在沙子中使用简单控制的振动立方体进行强大的自我推进
Bangyuan Liu1,2, Tianyu Wang1,2, Deniz Kerimoglu3
1Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, United States.
Frontiers in robotics and AI
|September 16, 2024
概括
这项研究介绍了自我振动作为在颗粒状地形上机器人的新型运动方法. 与传统方法相比,这种振动运动在具有挑战性的表面上提供了更快,更稳定的运动.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 颗粒力学 颗粒力学
- 振动动力学是一种振动动力学.
背景情况:
- 在无凝聚力的颗粒状地形上运动是传统的轮式和腿式机器人面临的重大挑战.
- 许多行星表面和陆地环境由颗粒状材料组成,需要强大的机器人移动解决方案.
研究的目的:
- 探索自我振动作为在颗粒状介质上机器人的替代运动机制.
- 研究振动参数对机器人在各种颗粒状地形和斜坡上的运动的影响.
主要方法:
- 开发一个配备内部振动电机的立方体机器人.
- 在颗粒状地形上对机器人运动进行系统的实验分析,颗粒的特性和斜率各不相同.
- 在颗粒状介质上对振动立方体进行数值模拟,以了解运动原理.
主要成果:
- 与硬表面相比,振动机运动在颗粒状表面上表现出更快,更稳定的运动.
- 机器人运动是由机器人身体与周围颗粒粒体之间的相互作用促进的.
- 数字模拟支持这样一个假设:运动源于来自立方体质量中心的振荡.
结论:
- 自动振动是一种简单而有效的方法,用于在颗粒状地形上强大的机器人运动.
- 使用振动运动的立方体形机器人可以作为复杂的机器人系统的模块化单元,具有增强的机动性.
- 这种方法为行星探索和在充满挑战的环境中陆地机器人应用提供了一个有希望的替代方案.
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