用可变惯性控制实现小型跳跃机器人在低重力环境下的飞行稳定。
Tethered Variable Inertial Attitude Control Mechanisms through a Modular Jumping Limbed Robot
- 通过调节肢体和绳索长度改变系统主惯性矩，实现姿态控制。
- 实验表明该方法可在无飞轮或气动依赖下完成飞行稳定，质量更轻。
- 适合月球、小行星等低重力环境下小型探测机器人的敏捷探索。
本文提出一种基于绳索连接的可变惯性姿态控制机制，用于模块化跳跃腿式机器人SPLITTER，在低重力环境下执行连续跳跃任务。该系统由两个重量小于10公斤的四足机器人通过绳索连接，利用惯性形态技术在空中实现姿态稳定。通过模型预测控制（MPC）调整肢体姿态与绳索长度，动态调节系统的主惯性矩。结果表明，该策略无需传统飞轮系统或依赖空气动力学即可在飞行阶段实现稳定，具备质量效率优势，适用于小型探测机器人在月球或小行星等低重力环境中的连续跳跃探索。论文详细阐述了系统动力学、惯性形态的MPC建模、作动器需求及仿真结果，验证了其在敏捷探测中的潜力。
原文摘要 · Abstract (English)
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10 kg quadrupedal robots connected by a tether, capable of executing successive jumping gaits and stabilizing in-flight using inertial morphing technology. Through model predictive control (MPC), attitude control was demonstrated by adjusting the limbs and tether length to modulate the system's principal moments of inertia. Our results indicate that this control strategy allows the robot to stabilize during flight phases without needing traditional flywheel-based systems or relying on aerodynamics, making the approach mass-efficient and ideal for small-scale planetary robots' successive jumps. The paper outlines the dynamics, MPC formulation for inertial morphing, actuator requirements, and simulation results, illustrating the potential of agile exploration for small-scale rovers in low-gravity environments like the Moon or asteroids.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。