在活火山实地测试四足机器人控制算法，验证其在类月火星地形的适应性。
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
- 采用自适应最优控制算法提升四足机器人在复杂地形的运动能力。
- 在意大利维苏威火山开展实地测试，验证算法在高保真类地环境下的表现。
- 适合对行星探测机器人、仿生足式运动感兴趣的科研人员。
像‘灵巧号’直升机这样的任务已证明，采用创新运动方式能显著提升行星探测任务的科学回报。四足机器人可比轮式漫游车更深入难以通行的地形，例如跃过地面裂缝或穿越布满巨石的崎岖区域。为开发并测试四足机器人控制算法，德国弗劳恩霍夫研究院（DFKI）开展了AAPLE项目。作为项目的一部分，我们在意大利西西里岛附近的埃奥利群岛维苏威火山——一座活跃的成层火山——进行了系列实地实验。实验重点是验证新开发的先进自适应最优控制算法在类月与类火地形的高保真模拟环境中对四足行走的适用性。本文介绍了技术方案、测试计划、软件架构、现场部署策略及维苏威火山行动的评估结果。
原文摘要 · Abstract (English)
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future planetary missions by traversing more difficult terrain than wheeled rovers, such as jumping over cracks on the ground or traversing rugged terrain with boulders. To develop and test algorithms for using quadruped robots, the AAPLE project was carried out at DFKI. As part of the project, we conducted a series of field experiments on the Volcano on the Aeolian island of Vulcano, an active stratovolcano near Sicily, Italy. The experiments focused on validating newly developed state-of-the-art adaptive optimal control algorithms for quadrupedal locomotion in a high-fidelity analog environment for Lunar and Martian surfaces. This paper presents the technical approach, test plan, software architecture, field deployment strategy, and evaluation results from the Vulcano campaign.
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