Stinger机器人可自主在狭窄矿洞中稳定钻探，无需外部支撑。
Stinger Robot: A Self-Bracing Robotic Platform for Autonomous Drilling in Confined Underground Environments
- 三腿自锁结构实现不规则岩壁的主动锚定。
- 力反馈闭环控制让机器人在无结构环境中稳定钻探。
- 适合地下矿洞自主勘探，为模块化采矿铺路。
对关键原材料日益增长的需求重新激发了对废弃地下矿洞的开发兴趣，但其狭窄、无结构、缺乏基础设施的环境给传统钻探设备带来巨大挑战。本文提出Stinger机器人，一种专为这类场景设计的紧凑型自主高力钻探平台。该机器人采用机械自锁的三腿支撑结构，可在不规则隧道表面实现稳定锚定。核心创新在于其力感知的闭环控制策略，能够在锚定与钻探过程中与非结构化环境进行力交互。该控制策略基于ROS 2实现为有限状态机，根据实时接触反馈和负载阈值动态调整腿部部署，确保无外部支撑下的稳定性。通过仿真与初步硬件测试验证，Stinger机器人可在以往采矿机械无法进入的条件下实现自主稳定与钻探。本工作首次验证了分布式力锚定与自主钻探一体化的机器人架构，为未来模块化协同采矿系统奠定了基础。
原文摘要 · Abstract (English)
The increasing demand for critical raw materials has revitalized interest in abandoned underground mines, which pose extreme challenges for conventional drilling machinery due to confined, unstructured, and infrastructure-less environments. This paper presents the Stinger Robot, a novel compact robotic platform specifically designed for autonomous high-force drilling in such settings. The robot features a mechanically self-locking tri-leg bracing mechanism that enables stable anchoring to irregular tunnel surfaces. A key innovation lies in its force-aware, closed-loop control strategy, which enables force interaction with unstructured environments during bracing and drilling. Implemented as a finite-state machine in ROS 2, the control policy dynamically adapts leg deployment based on real-time contact feedback and load thresholds, ensuring stability without external supports. We demonstrate, through simulation and preliminary hardware tests, that the Stinger Robot can autonomously stabilize and drill in conditions previously inaccessible to nowadays mining machines. This work constitutes the first validated robotic architecture to integrate distributed force-bracing and autonomous drilling in underground environments, laying the groundwork for future collaborative mining operations using modular robot systems.
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