受魔术玩具启发，机器人通过翻滚跨越复杂地形。
FlipWalker: Jacob's Ladder toy-inspired robot for locomotion across diverse, complex terrain
- 用柔性缆绳连接两段，靠腿部推地面或对侧实现翻滚。
- 自重0.78公斤，翻滚速度达0.2倍体长/秒，可越雪、石、草。
- 适合野外非结构化地形，无需依赖轮子或足式步态。
本文介绍FlipWalker，一种受雅各布梯子幻觉玩具启发的新型欠驱动机器人运动系统，专为在轮式机器人难以应对的复杂地形上移动而设计。与雅各布梯子玩具类似，FlipWalker由两个通过柔性缆绳连接的部件组成，能够绕奇点枢转并翻滚，动作类似于玩具的连续下落。每个部件内的电机驱动腿可根据当前构型推动地面或对侧部件。建立了基于物理的欠驱动翻滚动力学模型，阐明了决定前进速度和越障能力的关键设计参数。无绳原型重0.78公斤，最大翻滚速度为0.2个体长每秒。在人工草、河石和雪地上的实验表明，该机器人依靠垂直于表面的地面反作用力进行翻滚，是一种适用于不规则户外地形的有前景替代方案。
原文摘要 · Abstract (English)
This paper introduces FlipWalker, a novel underactuated robot locomotion system inspired by Jacob's Ladder illusion toy, designed to traverse challenging terrains where wheeled robots often struggle. Like the Jacob's Ladder toy, FlipWalker features two interconnected segments joined by flexible cables, enabling it to pivot and flip around singularities in a manner reminiscent of the toy's cascading motion. Actuation is provided by motor-driven legs within each segment that push off either the ground or the opposing segment, depending on the robot's current configuration. A physics-based model of the underactuated flipping dynamics is formulated to elucidate the critical design parameters governing forward motion and obstacle clearance or climbing. The untethered prototype weighs 0.78 kg, achieves a maximum flipping speed of 0.2 body lengths per second. Experimental trials on artificial grass, river rocks, and snow demonstrate that FlipWalker's flipping strategy, which relies on ground reaction forces applied normal to the surface, offers a promising alternative to traditional locomotion for navigating irregular outdoor terrain.
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