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作为ReachBot操纵的移动方式.
Tony G Chen1, Stephanie Newdick2, Julia Di1
1Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA.
Science robotics
|April 17, 2024
概括
ReachBot是一款新型机器人,使用可伸缩弹杆,在具有挑战性的月球和火星洞穴中进行导航. 它独特的移动和抓取系统使其能够探索难以进入的地质地形.
科学领域:
- 机器人技术和自主系统
- 行星科学 行星科学
- 天体生物学 天体生物学
背景情况:
- 月球和火星的洞穴 (岩管) 是地质和天体生物学研究的关键目标.
- 传统的机器人机动不足以在这些地下环境中的复杂,不规则的地形上进行导航.
研究的目的:
- 开发一个机器人系统,ReachBot,能够探索月球和火星上难以进入的洞穴和岩管.
- 为了使机器人能够在狭窄,不规则的地质结构中进行操纵和运动.
主要方法:
- ReachBot使用可伸缩的杆和微脊抓柄来进行操纵和移动.
- 带有内部力量控制的接触前运动规划器管理无关腿运动,保持杆紧张.
- 蒙特卡洛模拟提供了抓设计和抓强度预测的信息.
- 一个两步感知系统可以识别岩石特征上的安全抓住位置.
主要成果:
- ReachBot的设计允许在封闭空间中强制关闭,这对于岩管探测至关重要.
- 接触前运动规划器通过保持弹杆张力来确保稳定的运动.
- 模拟预测了可靠的握力和可变性.
- 在莫哈维沙漠的岩管中进行的实地测试验证了机器人找到安全抓住的能力.
结论:
- ReachBot为探索危险和难以进入的外星洞穴环境提供了一个可行的解决方案.
- 开发的移动和抓取策略是有效的导航和与不规则的岩石表面的互动.
- 这项技术提升了在月球和火星岩管中进行现场科学研究的潜力.
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