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科学探索具有挑战性的行星模拟环境,与一队腿类机器人进行科学探索
Philip Arm1, Gabriel Waibel1, Jan Preisig1
1Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, Zurich 8092, Switzerland.
Science robotics
|July 12, 2023
概括
一个具有先进的机动和感知能力的腿类机器人团队可以探索具有挑战性的行星地形. 这种多机器人方法提高了以前无法进入的地点的勘探速度和科学调查能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 行星科学 行星科学
- 地质地质地质地质地质地
背景情况:
- 目前的行星探测机器人在与的山坡,松散的土壤和无结构的地形作斗争.
- 单机器人系统的探索速度和技能有限,阻碍了全面的科学研究.
研究的目的:
- 开发和验证一支拥有互补技能的腿类机器人团队,以探索具有挑战性的行星模拟环境.
- 克服当前机器人探索系统在移动性,速度和科学能力方面的局限性.
主要方法:
- 配备有高效机动控制器的腿类机器人,绘制管道,用于目标识别的实例细分和科学仪器.
- 集成了一个机器人臂,用于高精度的测量.
- 在Beyond Gravity ExoMars探测器试验台,瑞士采石场和太空资源挑战赛中对机器人团队进行了模拟部署的测试.
主要成果:
- 有腿的机器人在颗粒状的斜坡 (>25°),松散的土壤和无结构的地形上展示了快速的导航,超过了轮式漫游器.
- 综合系统使得有效地绘制地图,科学目标识别和现场测量成为可能.
- 在多个模拟环境中成功验证证实了该方法的有效性.
结论:
- 一个拥有先进机动,感知和测量技能的腿类机器人团队,再加上任务级别的自主性,可以快速地进行成功和有效的行星探索任务.
- 这种方法显著扩大了科学探索的范围,使得以前无法到达的行星站点可以进入.
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