用AI与仿真一体化设计月球机器人，实现软硬件协同优化。
An integrated process for design and control of lunar robotics using AI and simulation
- 通过可读写声明式语言OpenPLX连接设计与控制，实现并行开发。
- 支持高保真实时3D仿真，涵盖多体动力学与月壤相互作用。
- 适用于月球探测器、自动驾驶机器人等深空任务研发。
我们构想了一种集成化的月球建造设备开发流程，将物理设计与控制策略并行探索。本文提出一个技术框架，基于OpenPLX——一种可读写、声明式的语言，将CAD模型与自主系统与高保真、实时的3D仿真环境相联结，支持接触多体动力学、机器-月壤相互作用力以及非理想传感器的模拟。为验证其能力，我们展示了两个案例研究，包括一款结合视觉-语言模型进行导航、基于强化学习控制行走的自主月球巡视器。
原文摘要 · Abstract (English)
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a readable/writable declarative language that links CAD-models and autonomous systems to high-fidelity, real-time 3D simulations of contacting multibody dynamics, machine regolith interaction forces, and non-ideal sensors. To demonstrate its capabilities, we present two case studies, including an autonomous lunar rover that combines a vision-language model for navigation with a reinforcement learning-based control policy for locomotion.
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