10公斤四足攀岩机器人，靠自研抓钩实现陡峭岩壁稳定爬行
LIMBERO: A Limbed Climbing Exploration Robot Toward Traveling on Rocky Cliffs
- 单电机驱动耦合指爪与脊钩动作，轻量化抓钩力超150牛
- 开发几何可抓性指数可视化算法，适配连续崎岖地形
- 实测在1G重力下成功攀爬陡峭岩壁，同类机型未达此性能
在月球与行星探测中，腿式机器人作为传统轮式机器人在复杂不平地形上的替代方案受到广泛关注。为实现对高度不规则且陡峭倾斜表面的移动，配备足端抓钩的肢式攀爬机器人成为有前景的解决方案。本文提出一种10公斤级四足攀爬机器人LIMBERO，采用脊型抓钩实现崎岖陡坡上的稳定运动与攀爬。首先，设计了一种新型抓钩结构，通过单个电机协同驱动指爪闭合与脊钩嵌入动作，实现轻量化（525克）下超过150牛的优异抓握力。其次，开发了高效的算法，可在连续粗糙地形上可视化基于几何的可抓性指数。最后，将上述组件集成至LIMBERO，并在1G重力条件下验证其成功攀爬陡峭岩石表面的能力，这是同规模肢式攀爬机器人此前尚未实现的性能。
原文摘要 · Abstract (English)
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and steeply inclined surfaces, limbed climbing robots equipped with grippers on their feet have emerged as a promising solution. In this paper, we present LIMBERO, a 10 kg-class quadrupedal climbing robot that employs spine-type grippers for stable locomotion and climbing on rugged and steep terrain. We first introduce a novel gripper design featuring coupled finger-closing and spine-hooking motions, tightly actuated by a single motor, which achieves exceptional grasping performance (>150 N) despite its lightweight design (525 g). Furthermore, we develop an efficient algorithm to visualize a geometry-based graspability index on continuous rough terrain. Finally, we integrate these components into LIMBERO and demonstrate its ability to ascend steep rocky surfaces under a 1 G gravity condition, a performance not previously achieved yet for limbed climbing robots of this scale.
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