LEVA是一款能自主搬运85公斤货物的腿式悬架运输机器人。
LEVA: A high-mobility logistic vehicle with legged suspension
- 采用并联机构腿式悬架，结合轮子转向与强化抓取结构。
- 可自主完成上楼、过坡、运载85公斤重物，能耗低至0.15。
- 适合农业、建筑、救援等复杂地形的无人物流场景。
自主在复杂地形运输物资具有重大经济意义，但仍未解决。本文提出LEVA，一种高负载、高机动性机器人，适用于农业、建筑及搜救等多样化地形的自主物流。其独特之处在于采用基于并联运动学的先进腿式悬架系统，配备强化轮转向与专用箱体抓取装置，支持通过强化学习控制器自主攀爬楼梯，实现85公斤载荷的精准可靠运输，可在不平路面、台阶和斜坡上运行，能耗低至0.15。经大量实验验证，LEVA展现出卓越的越障能力与载荷装卸可靠性。
原文摘要 · Abstract (English)
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture, construction, and search and rescue operations. LEVA uniquely integrates an advanced legged suspension system using parallel kinematics. It is capable of traversing stairs using a rl controller, has steerable wheels, and includes a specialized box pickup mechanism that enables autonomous payload loading as well as precise and reliable cargo transportation of up to 85 kg across uneven surfaces, steps and inclines while maintaining a cot of as low as 0.15. Through extensive experimental validation, LEVA demonstrates its off-road capabilities and reliability regarding payload loading and transport.
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。