给四足机器人加可动脊柱，让它跑得更快、爬得更高、越过障碍更灵活。
Evaluation of an Actuated Spine in Agile Quadruped Locomotion
- 在模拟中为机器人添加1自由度可动脊柱，提升动态运动能力。
- 实测显示能跨越更高台阶、攀爬更陡坡道、通过更窄通道。
- 适合研究高速敏捷四足机器人运动控制的开发者参考。
脊柱在四足动物的动态运动中起关键作用，能提升运动稳定性、速度与效率，尤其在快速敏捷动作中表现突出。因此，脊柱也是拓展四足机器人能力的自然途径。本文通过实证研究，评估可动脊柱对学习敏捷四足运动的益处。在MuJoCo仿真环境中，使用MAB Robotics的Silver Badger机器人，配备一个矢状面内1-自由度可动脊柱，测试其在高速奔跑、爬楼梯、攀爬高坡度、跨障及爬行场景下的表现。结果表明，引入脊柱显著提升了机器人的敏捷性，使其能够克服更高的台阶、更陡的斜坡、更高的障碍物和更狭窄的通道。
原文摘要 · Abstract (English)
The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly agile movements. Therefore, the spine is also a promising and natural way to extend the capabilities of quadruped robots. This paper empirically investigates the benefits of an actuated spine for learning agile quadruped locomotion. We evaluate whether the use of the spine brings benefits in terms of high-speed running, climbing stairs, climbing high-angle slopes, hurdling, and crawling scenarios. We conducted an empirical study in MuJoCo simulation using the Silver Badger robot from MAB Robotics with an actuated 1-DOF spine in the sagittal plane. The obtained results show that the use of the spine provides the robot with increased agility and allows it to overcome higher stairs, steeper slopes, higher obstacles, and smaller passages.
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