比较四足机器人滑行与步行的能耗，找出地形切换时机。
Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes
- 用物理仿真与粒子模拟结合，对比滑行与步行能耗。
- 发现不同坡度和摩擦下两种方式能耗交点，可定切换阈值。
- 适合研究行星探测机器人自适应运动策略的研究者。
相较于轮式平台，腿式探测器在陡峭不规则的行星地形上具有更高的机动性。然而，在松散倾斜的地表（如陨石坑壁、洞穴斜坡）上，传统腿式运动可能能耗过高且存在风险。本文开展初步研究，通过在Isaac Sim中进行物理仿真，并结合ANSYS-Rocky验证颗粒相互作用，比较四足机器人在不同坡度、摩擦条件和速度下的步行与基于躯干滑行的能耗（CoT）。通过识别步行与滑行能耗曲线的交点，旨在确定触发两种运动模式切换的临界条件。研究结果为行星探测用腿式机器人实现自适应运动策略迈出了第一步。
原文摘要 · Abstract (English)
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the rover on loose and inclined surfaces, such as crater walls and cave slopes. This paper introduces a preliminary study that compares the Cost of Transport (CoT) of walking and torso-based sliding locomotion for quadruped robots across different slopes, friction conditions and speed levels. By identifying intersections between walking and sliding CoT curves, we aim to define threshold conditions that may trigger transitions between the two strategies. The methodology combines physics-based simulations in Isaac Sim with particle interaction validation in ANSYS-Rocky. Our results represent an initial step towards adaptive locomotion strategies for planetary legged rovers.
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