通过姿态调控实现陡坡滚降时的航向与速度控制
Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
- 用简化级联模型模拟蛇形机器人滚降动态
- 模型在仿真中准确捕捉关键运动特性
- 适合做复杂地形机器人控制研究者参考
在崎岖地形和陡坡上导航是移动机器人的挑战。传统轮式和腿式系统因牵引力和稳定性不足而受限。东北大学的COBRA（Crater Observing Bio-inspired Rolling Articulator）是一种新型多模态蛇形机器人，结合传统蛇形步态在平坦和倾斜表面移动，以及滚降模式实现陡坡可控下降。通过动态姿态调控，COBRA可在滚降过程中调节航向角与速度。本文提出一个用于COBRA滚降运动的简化级联模型，并通过高保真刚体仿真进行验证，仿真结果表明该模型能有效捕捉系统的关键动力学特征。
原文摘要 · Abstract (English)
Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing Bio-inspired Rolling Articulator), a novel multi-modal snake-like robot, addresses these issues by combining traditional snake gaits for locomotion on flat and inclined surfaces with a tumbling mode for controlled descent on steep slopes. Through dynamic posture manipulation, COBRA can modulate its heading angle and velocity during tumbling. This paper presents a reduced-order cascade model for COBRA's tumbling locomotion and validates it against a high-fidelity rigid-body simulation, presenting simulation results that show that the model captures key system dynamics.
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