用可变形针阵列实现陡峭岩壁稳定攀爬，无需复杂感知控制。
A Pin-Array Structured Climbing Robot for Stable Locomotion on Steep Rocky Terrain
- 针阵列结构被动贴合不规则表面，靠机械互锁抓牢
- 在10-30度倾斜墙和自然岩面均实现稳定运动
- 适合野外复杂地形，控制简单且鲁棒性强
攀爬机器人在非结构化环境中面临重大挑战，可靠附着于不规则表面至关重要。本文提出一种新型移动攀爬机器人，配备柔性针阵列结构抓手，能被动适应表面起伏，确保稳定抓持，无需复杂传感或控制。每个针采用垂直分体设计，结合弹性元件与金属芯，可与微尺度表面特征实现机械互锁。统计建模与实验验证表明，单个针力及接触数量的差异是抓握不确定性的主要来源。机器人在室内倾斜墙面（10-30度）和室外自然岩地测试中均表现出稳健稳定的运动性能。该研究强调，注重被动柔性和机械冗余的设计，可在最小化控制复杂性的同时，为现实世界中的攀爬机器人提供实用且鲁棒的解决方案。
原文摘要 · Abstract (English)
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured grippers that passively conform to surface irregularities, ensuring stable ground gripping without the need for complicated sensing or control. Each pin features a vertically split design, combining an elastic element with a metal spine to enable mechanical interlocking with microscale surface features. Statistical modeling and experimental validation indicate that variability in individual pin forces and contact numbers are the primary sources of grasping uncertainty. The robot demonstrated robust and stable locomotion in indoor tests on inclined walls (10-30 degrees) and in outdoor tests on natural rocky terrain. This work highlights that a design emphasizing passive compliance and mechanical redundancy provides a practical and robust solution for real-world climbing robots while minimizing control complexity.
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