提出泥地足部阻力模型，提升机器人在泥泞地形的移动效率。
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
- 基于流变学建立泥地足部阻力统一模型，涵盖黏弹性与触变性等特性。
- 实验验证新仿生足能显著提升泥地行走的机动性与能耗效率。
- 模型可用于数据驱动仿真与控制，适合足式机器人研究者参考。
足式机器人在易变形、高松软地形（如泥地）上移动面临严峻挑战。本文提出一种描述足-泥相互作用的阻力模型，捕捉泥浆悬浮液的黏弹性、触变性及回吸效应等流变行为。该模型具有统一且有效的数学表达，能提供物理可解释性并准确预测阻力。基于此模型，设计了一种新型可变形机器人足部，显著提升了泥地行走的机动性与能量效率。通过大量实验验证了该阻力模型的有效性。结果表明，该模型可进一步用于构建数据驱动的仿真系统与运动控制策略，助力足式机器人在泥泞地形上的自主导航。
原文摘要 · Abstract (English)
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model captures rheological behaviors such as visco-elasticity, thixotropy of the mud suspension and retractive suction. One attractive property of this new model lies in its effective, uniform formulation to provide underlying physical interpretation and accurate resistive force predictions. We further take advantage of the resistive force model to design a new morphing robotic foot for effective and efficient legged locomotion. We conduct extensive experiments to validate the force model, and the results demonstrate that the morphing foot enhances not only the locomotion mobility but also energy-efficiency of walking in mud. The new resistive force model can be further used to develop data-driven simulation and locomotion control of legged robots on muddy terrains.
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