生物模拟机器人适应火星表面地形
Guangming Chen1, Long Qiao1, Zhenwen Zhou1
1College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China.
Bioinspiration & biomimetics
|March 7, 2024
概括
一个新的仿生四足机器人,灵感来自沙漠,导航具有挑战性的火星地形. 这种可适应的火星探测器设计克服了当前轮式车辆在弱土壤条件下的局限性.
科学领域:
- 行星科学 行星科学
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
背景情况:
- 火星探索至关重要,但目前的探测器在软弱,土壤状的地形上扎.
- 漫游者在意想不到的地形上的固定性限制了勘探效率.
研究的目的:
- 开发一个可适应挑战火星表面条件的火星探测器.
- 设计一个仿生四足机器人,灵感来自沙漠的运动.
主要方法:
- 设计了一个四足机器人,具有灵活的活跃脊柱和活跃的脚.
- 开发了三种步态 (三脚,,转动),协调脊柱的曲和腿部的运动.
- 在火星土壤和岩石/斜坡类似物上进行了模拟和穿越测试.
主要成果:
- 机器人实现了28.13米/秒的最大前进速度和1.94°/秒的转速.
- 它成功地穿越了高达74.85毫米的障碍物,并登了高达28度的斜坡,滑坡率为76.8%.
- 活跃的脚在颗粒状的地形上提供了估计的喘气力.
结论:
- 生物模拟四足机器人证明了适应火星颗粒状粗地形和温和坡道的适应性.
- 这种设计为未来的火星探索任务提供了更好的流动性.
- 灵活的脊柱和活跃的脚是克服地形挑战的关键.
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