一款能跳、能平衡、能单轮骑行的23.5公斤机器人自行车。
System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
- 用反应质量块+少自由度驱动，实现动态平衡与跳跃。
- 零样本迁移完成跳、单轮站立、前空翻等复杂动作。
- 可高速行驶（8米/秒）并跃过1米高障碍，超自身高度130%。
试骑和山地车骑手能单轮或双轮骑行、跳跃、平衡，兼具高速与越野敏捷性。受此启发，我们设计并控制了一种名为超机动车辆（UMV）的机器人平台，结合自行车与反应质量块，以最少的主动自由度实现动态运动。通过仿真驱动的设计优化，生成了侧重垂直跳跃高度与单轮接触动量平衡的空间连杆拓扑。采用约束强化学习框架，成功实现零样本迁移多种运动行为，包括轨道站立、跳跃、后轮翘起、前空翻等。该23.5公斤机器人可达到8米/秒高速，并跃过高达1米的障碍物（超过其名义高度的130%）。
原文摘要 · Abstract (English)
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terrain and agility over rough terrain. Inspired by these athletes, we present the design and control of a robotic platform, Ultra Mobility Vehicle (UMV), which combines a bicycle and a reaction mass to move dynamically with minimal actuated degrees of freedom. We employ a simulation-driven design optimization process to synthesize a spatial linkage topology with a focus on vertical jump height and momentum-based balancing on a single wheel contact. Using a constrained Reinforcement Learning (RL) framework, we demonstrate zero-shot transfer of diverse athletic behaviors, including track-stands, jumps, wheelies, rear wheel hopping, and front flips. This 23.5 kg robot is capable of high speeds (8 m/s) and jumping on and over large obstacles (1 m tall, or 130% of the robot's nominal height).
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。