智能岩机器人能够进行多式交通和混合生物启发的附件
Peijin Zi1, Kun Xu1, Jiawei Chen1
1School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|July 15, 2024
概括
这项研究介绍了MARCBot,这是一款用于极端地形的新奇生物灵感机器人. 它具有独特的抓柄,可提高稳定性和多式联动运动,使登和行走都可行.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物启发工程 生物启发工程
- 星球探索 星球探索
背景情况:
- 目前的岩机器人缺乏适应极端环境的稳定性,适应性和多模式功能.
- 限制包括缓慢的机动和单一用途的设计,阻碍了野外工作和勘探.
- 生物灵感为在具有挑战性的地形中增强机器人能力提供解决方案.
研究的目的:
- 介绍一款新的多式和自适应式岩机器人 (MARCBot).
- 解决当前机器人在稳定性,适应性,移动速度和功能方面的局限性.
- 开发一种生物灵感设计,在极端环境中提供强大的性能.
主要方法:
- 设计的MARCBot带有棘手的抓手,灵感来自甲虫,鸟类和动物.
- 实施了一种新的控制策略,使用动态和二次编程 (QP) 来优化附着钥匙.
- 评估了在垂直岩石和复杂地形上爬和慢跑的速度.
主要成果:
- 马尔西波特展示了高度的附着强度和被动适应各种地形的适应性.
- 实现了0.15米/分钟的爬速度和高达0.21米/秒的步速度.
- 运输成本降低了20.03% (与CLIK相比) 和6.05% (与VMC相比).
结论:
- MARCBot是第一个能够同时岩和复杂地形漫步的机器人,无需切换终端效应器.
- 生物灵感设计显著提升了机器人在极端环境中的多式联动机动.
- 这项工作为在行星探索和实地工作中更有能力的机器人铺平了道路.
相关概念视频
01:16Non-equilibrium in the Cell
An important concept in studying metabolism and energy is that of chemical equilibrium. Most chemical reactions are reversible. They can proceed in both directions, releasing energy into their environment in one direction, and absorbing it from the environment in the other direction. The same is true for the chemical reactions involved in cell metabolism, such as the breaking down and building up of proteins into and from individual amino acids, respectively. Reactants within a closed system...
01:24iChip
The cultivation of environmental microorganisms has long been hindered by the inability to replicate complex native conditions in vitro. The isolation chip (iChip) addresses this limitation by facilitating the growth of previously uncultivable microorganisms through in situ incubation. Designed for high-throughput microbial cultivation, the iChip comprises hundreds of microchambers, each capable of housing a single microbial cell. These microchambers are loaded with a mixture of molten agar and...