可自动调节履刺高度的轮子，让火星车在不同地形上不打滑、省电、跑得快。
Terrain-Adaptive Grouser Wheel for Optimal Planetary Exploration: Design and Experimental Investigation
- 轮子能连续调节履刺高度，随地形变化智能适应。
- 实验显示打滑减少30%至58%，能耗降低77.4%。
- 适合未来火星等复杂地形探测任务，尤其注重续航与稳定性的团队。
在地外环境中运行的行星巡视器常因地形差异（如坡度和颗粒度）面临显著移动挑战。尽管近期多模态轮设计已探索刚度、柔度和直径调整以提升适应性，但可调履刺轮仍研究不足。履刺高度在颗粒地形中对性能至关重要，因此我们提出[Anonymized Robot Name]——一种可连续调节履刺高度的多模态轮系统。该平台在四种代表性表面（乙烯基地板、粗岩、豌豆砾石、沙地两种密实状态）上完成750次实验，结果表明：自适应部署使颗粒区段打滑减少30.0%–58.0%，旅行时间与能耗改善最高达77.4%。基于试验数据建立并验证了简化尺度分析模型，揭示了地形颗粒度与最优履刺高度的关系。单一履刺高度无法在所有地形中最小化打滑，凸显固定轮系统的局限性。这一发现强化了履刺自适应形态（如[Anonymized Robot Name]）在多样化、高挑战性地外环境中的应用潜力。
原文摘要 · Abstract (English)
Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While recent works in multimodal wheel design have explored adjustments in stiffness, compliance, and diameter as a means to improve terrain adaptability, full wheel grouser-adjustable designs remain largely unexplored. Grousers are a compelling feature to actuate, as granular terrains tend to require increased grouser height for improved wheel performance. As a result, we introduce [Anonymized Robot Name], a multimodal wheel capable of continuously adjusting its grouser height for terrain adaptation. The platform was evaluated across four representative surfaces, including vinyl flooring, coarse rock, pea gravel, and sand under two packing states, spanning a range of granular conditions. Results from 750 experimental trials demonstrate that adaptive deployment reduces slip by 30.0--58.0\% and improves travel time and energy consumption by up to 77.4\% in granular regimes relative to fixed configurations. Using the terrain trial data, a simplified scaling analysis was developed and validated, suggesting a relationship between terrain granularity and optimal grouser height for the tested configuration. No single grouser height minimized slip across all terrains, underscoring the limitations of fixed-wheel systems commonly used for planetary exploration. This observation reinforces the potential of grouser-adaptive morphology, such as [Anonymized Robot Name], as an effective solution for enhancing rover mobility across diverse and mobility-challenging extraterrestrial environments.
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