用两个电机实现滚动跳跃，可在低重力环境自适应地形探索
Underactuated multimodal jumping robot for extraterrestrial exploration
- 仅用两台反作用轮通过双控制器实现姿态控制
- 0.33米长、1.25公斤重，可完成滚动、定向跳跃与自复位
- 适合月球火星等低重力星球的复杂地形探测
我们提出一种仅用两个反作用轮控制姿态的欠驱动单足机器人，用于在低重力天体上实现多模态移动。该系统配备平衡控制器以确定地面跳跃方向，以及空中再定向控制器以调整飞行中的着陆腿姿态。实验验证了滚动、定向跳跃与着陆、自复位等功能，仅需三个执行器，整体尺寸为0.33米，质量1.25公斤。通过简单切换运动模式，系统可应对不同地形与环境条件。
原文摘要 · Abstract (English)
We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller which can aim the robot's jump direction on the ground, and an aerial reorientation controller which can aim the robot's leg for landing after flight. We demonstrate rolling, targeted jumping and landing, and self-righting using only three actuators total, keeping system size to 0.33m and 1.25kg. Simple switching between locomotion modes enables the system to deal with differing landscapes and environmental conditions.
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