让轮式双足机器人无需视觉就能盲爬台阶，靠触感触发动作。
CTBC: Contact-Triggered Blind Climbing for Wheeled Bipedal Robots with Instruction Learning and Reinforcement Learning
- 触碰到障碍物后自动触发抬腿动作，结合前馈轨迹快速响应。
- 仅用自身感知信息，就能连续攀爬超过轮子半径的障碍物。
- 适配不同轮子尺寸和材质，适用于多种轮式双足机器人。
近年来，轮式双足机器人因其在平坦地形上的卓越机动性受到广泛关注。然而，尽管已有研究实现了爬楼梯，但现有方法普遍缺乏泛化能力，难以适应不同的硬件配置或复杂多变的地形。为此，本文提出一种通用的接触触发盲爬框架（Contact-Triggered Blind Climbing, CTBC）。当检测到车轮与障碍物接触时，系统立即触发基于强引导前馈轨迹的抬腿动作，使机器人快速掌握敏捷爬行技能，显著提升其在非结构化环境中的通行能力。与以往方法不同，CTBC展现出更强的鲁棒性和适应性，已在多个具有不同轮径和轮胎材料的轮式双足平台上得到验证。真实世界实验表明，仅依赖本体感知反馈，该框架即可实现对超出轮半径的障碍物进行可靠且连续的攀爬。
原文摘要 · Abstract (English)
In recent years, wheeled bipedal robots have garnered significant attention due to their exceptional mobility on flat terrain. However, while stair climbing has been achieved in prior studies, these existing methods often suffer from a severe lack of versatility, making them difficult to adapt to varying hardware specifications or diverse complex terrains. To overcome these limitations, we propose a generalized Contact-Triggered Blind Climbing (CTBC) framework. Upon detecting wheel-obstacle contact, the framework triggers a leg-lifting motion integrated with a strongly-guided feedforward trajectory. This allows the robot to rapidly acquire agile climbing skills, significantly enhancing its capability to traverse unstructured environments. Distinct from previous approaches, CTBC demonstrates superior robustness and adaptability, having been validated across multiple wheeled bipedal platforms with different wheel radii and tire materials. Real-world experiments demonstrate that, relying solely on proprioceptive feedback, the proposed framework enables robots to achieve reliable and continuous climbing over obstacles well beyond their wheel radius.
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