利用机器人自然动力学设计高效爬行轨迹，提升弹性蛇形机器人的运动效率。
Locomotion of an Elastic Snake Robot via Natural Dynamics
- 基于非刹车周期轨道设计新型爬行步态，利用系统自然动力学。
- 在无摩擦理想情况下，新步态能量效率达100%，显著优于传统方法。
- 真实摩擦场景下仍表现更优，适合仿生与柔性机器人研究者参考。
自然界表明，利用机器人系统的弹性与自然动力学可提升其运动效率。以往对弹性蛇形机器人的研究支持这一观点，但尚未充分挖掘系统的非线性动态特性。近期的特征流形理论为复杂非线性系统的自然动力学提供了更好刻画方式。本文探究了基于非线性自然动力学设计高效步态的可能性。提出两种基于自然动力学的步态，并通过动力学仿真与当前最优方法对比。结果表明，通过切换两种非线性模态生成的步态并未提升运动效率；而基于非刹车周期轨迹（non-brake orbits）的步态在能量守恒情况下实现100%效率。进一步考虑摩擦的仿真显示，在更现实场景中，该类步态仍优于刚性系统基线步态。研究为基于自然动力学的步态设计提供了重要启示，推动后续探索。
原文摘要 · Abstract (English)
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear dynamic behavior of the systems. Recent advances in eigenmanifold theory enable a better characterization of the natural dynamics in complex nonlinear systems. This letter investigates if and how the nonlinear natural dynamics of a kinematic elastic snake robot can be used to design efficient gaits. Two types of gaits based on natural dynamics are presented and compared to a state-of-the-art approach using dynamics simulations. The results reveal that a gait generated by switching between two nonlinear normal modes does not improve the locomotion efficiency of the robot. In contrast, gaits based on non-brake periodic trajectories (non-brake orbits) are perfectly efficient in the energy-conservative case. Further simulations with friction reveal that, in a more realistic scenario, non-brake orbit gaits achieve higher efficiency compared to the baseline gait on the rigid system. Overall, the investigation offers promising insights into the design of gaits based on natural dynamics, fostering further research.
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