仿蜈蚣机器人通过波动运动实现高效自正，提升复杂地形适应性。
Effective self-righting strategies for elongate multi-legged robots
- 基于生物与机器的对比研究，提出双波动协同的自正策略。
- 实验验证：10cm高度翻倒后，90%以上成功自正，关键参数为波频与振幅。
- 适用于农业巡检、搜救等场景，增强长身多足机器人的稳定性。
蜈蚣状机器人在复杂地形中导航时具有高鲁棒性且感知需求低。然而，在攀爬障碍物时，其质心易进入不稳状态，微小地形不确定性即可导致倾覆。针对此类长身多足机器人，现有的自正机制尚未被系统研究。本文采用生物与机器人物理结合的方法，首先将 *S. polymorpha* 从10 cm高度翻转并用高速摄像机记录其自正行为。通过运动学分析，提出两种行波（分别位于侧向和垂直平面）叠加可描述其行为。在具有静态肢体的长身机器人上验证了该假设，成功复现自正动作。进一步研究波参数对自正效果的影响，识别出两个关键参数：空间频率（表征身体滚动序列）和波幅（表征身体弯曲度）。通过实验绘制行为图谱，确定了通用有效的自正策略，显著提升机器人在农业地形巡检与搜救任务中的移动能力与鲁棒性。
原文摘要 · Abstract (English)
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable configurations, where even moderate terrain uncertainty can cause tipping over. Robust mechanisms for such elongate multi-legged robots to self-right remain unstudied. Here, we developed a comparative biological and robophysical approach to investigate self-righting strategies. We first released \textit{S. polymorpha} upside down from a 10 cm height and recorded their self-righting behaviors using top and side view high-speed cameras. Using kinematic analysis, we hypothesize that these behaviors can be prescribed by two traveling waves superimposed in the body lateral and vertical planes, respectively. We tested our hypothesis on an elongate robot with static (non-actuated) limbs, and we successfully reconstructed these self-righting behaviors. We further evaluated how wave parameters affect self-righting effectiveness. We identified two key wave parameters: the spatial frequency, which characterizes the sequence of body-rolling, and the wave amplitude, which characterizes body curvature. By empirically obtaining a behavior diagram of spatial frequency and amplitude, we identify effective and versatile self-righting strategies for general elongate multi-legged robots, which greatly enhances these robots' mobility and robustness in practical applications such as agricultural terrain inspection and search-and-rescue.
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