仿张拉整体结构的机器人兼具抗冲击与自主导航能力。
Impact-resistant, autonomous robots inspired by tensegrity architecture
- 融合刚性杆与弹性绳索，构建兼具柔韧与智能的混合结构。
- 可承受5.7米高空跌落，实现18个杆长/分钟的高速移动。
- 适合复杂地形探索，尤其适用于危险环境下的自主任务。
未来机器人需在危险、偏远环境中具备鲁棒性与自主性。现有柔性机器人虽提升抗冲击能力，但常牺牲自主性能。受张拉整体结构启发，本文提出一种混合型张拉整体机器人，由刚性杆和弹性绳索构成，兼具柔韧性与自主执行任务的能力。该机器人在野外环境中表现出优异的抗冲击性与自主性，可承受至少5.7米高度跌落，利用机载传感器精确重建自身形状与姿态，实现18个杆长/分钟的高速移动，并能攀爬28度的最陡坡度——创下张拉整体机器人新纪录。研究分析其在非结构化地形上的运动特性，展示其在导航任务中的自主能力，并通过从悬崖滚落实验证明其卓越鲁棒性。
原文摘要 · Abstract (English)
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities expected of rigid robots. Inspired by tensegrity architecture, we introduce a tensegrity robot -- a hybrid robot made from rigid struts and elastic tendons -- that demonstrates the advantages of compliance and the autonomy necessary for task performance. This robot boasts impact resistance and autonomy in a field environment and additional advances in the state of the art, including surviving harsh impacts from drops (at least 5.7 m), accurately reconstructing its shape and orientation using on-board sensors, achieving high locomotion speeds (18 bar lengths per minute), and climbing the steepest incline of any tensegrity robot (28 degrees). We characterize the robot's locomotion on unstructured terrain, showcase its autonomous capabilities in navigation tasks, and demonstrate its robustness by rolling it off a cliff.
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