嵌入式设计用于在复杂的地形上增强基于的移动
Nnamdi C Chikere1, John Simon McElroy2, Yasemin Ozkan-Aydin3
1Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, 46556, USA.
Scientific reports
|March 5, 2025
概括
这项研究以海为灵感,探讨了机器人身体设计和运动如何影响导航沙子和岩石等不同地形. 适应性设计是机器人在复杂环境中高效多功能移动的关键.
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
- 运动科学 运动科学
背景情况:
- 机器人对于探索具有挑战性的环境至关重要,例如灾难现场和外星地点.
- 目前的机器人在移动性和适应性方面面临各种地形的限制.
- 大自然提供先进的解决方案,像海这样的动物表现出专门的设计,以实现高效的运动.
研究的目的:
- 研究机器人的物理形式 (形态) 与其在不同的陆地环境中导航的能力之间的关系.
- 了解步态模式如何影响机器人移动性,从海幼中汲取灵感.
- 确定关键的设计原则,以提高机器人的多功能性和性能在复杂的地形.
主要方法:
- 开发一种生物灵感的机器人系统,模仿海的翅膀运动.
- 实验评估机器人在沙子,岩石和混合地形上的地面移动性.
- 对性能指标的分析,包括与形态和步态相关的运输速度和成本.
主要成果:
- 翅膀和身体形态显著影响陆地导航能力.
- 特定的步态模式提高了机器人的移动性和在各种基板上的效率.
- 适应性机器人设计对于实现速度,效率和多功能性至关重要.
结论:
- 生物灵感设计,特别是模仿海的运动,为多地形机器人移动提供了一个有希望的方法.
- 形态适应性和优化的步态模式对于在复杂的现实环境中运行的机器人至关重要.
- 未来的机器人系统应该优先考虑适应性设计,以克服当前的移动性限制.
相关概念视频
01:07Frictional Force
When a body is in motion, it encounters resistance because the body interacts with its surroundings. This resistance is known as friction, a common yet complex force whose behavior is still not completely understood. Friction opposes relative motion between systems in contact, but also allows us to move. Friction arises in part due to the roughness of surfaces in contact. For one object to move along a surface, it must rise to where the peaks of the surface can skip along the bottom of the...
01:26Kinetic Friction
Consider a truck trying to pull a stationary car. As the truck exerts a force on the car, static friction is created at the point of contact between the two surfaces. This frictional force resists the car's movement and keeps it at rest. However, when the applied force by the truck surpasses the limiting static frictional force, an interesting phenomenon occurs. The frictional force at the interface reduces to a lower value, known as the kinetic frictional force. At this point, the car begins...
01:28Frictional Forces on Flat Belts
Flat belts are commonly used in various industrial applications for transmitting power from one pulley to another. When a flat belt is wrapped around a set of pulleys, it experiences different tensions at the driving pulley ends due to the friction between the belt and pulley surface. When the pulley moves in a counterclockwise direction, the tension T2 on the opposite side of the pulley where the belt is moving away from is higher than the tension T1 on the side where the belt is moving...
01:18Fluid Movement Between Compartments
The force applied by fluids against a surface, known as hydrostatic pressure, initiates the transfer of fluid among different compartments. Within our blood vessels, the blood's hydrostatic pressure is a result of the heart's pumping action. At the arteriolar end of capillaries, hydrostatic pressure (capillary blood pressure) exceeds the opposing colloid osmotic pressure created primarily by plasma proteins like albumin. This discrepancy in pressure propels plasma and nutrients from the...
01:11Buoyancy and Stability for Submerged and Floating Bodies
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
01:25Design Example: Traverse Angle Computations
Traverse angle computations are a critical component of surveying, used to compute the internal angles within a closed traverse. A traverse consists of a series of connected lines forming a closed loop, often used for land boundary delineation or mapping. Calculating the internal angles ensures accuracy in the traverse geometry and is essential for checking survey data integrity.The process begins with known azimuths and bearings of the traverse sides. Internal angles at each vertex are...