颗粒介质上腿运动的地球动力学
A Terradynamics of Legged Locomotion on Granular Media
摘要：
空气动力学和流体动力学的理论通过计算升力、阻力和推力来预测动物在空气和水中的运动和装置设计。虽然陆地腿运动的模型集中在与固体地面的相互作用上，但许多动物在响应入侵而流动的基质上移动。然而，在这种可流动的地面上的运动-地面相互作用模型往往是不可用的。我们开发了一个力模型任意形状的腿和身体在颗粒状介质中自由移动，并使用这种“terradynamics”来预测一个小腿机器人的运动颗粒状介质使用各种腿的形状和步幅频率。我们的研究揭示了一个复杂的，但通用的依赖性，在粒状介质中的入侵者的深度，方向和运动方向的应力，并提供了深入了解腿的形态和运动的影响。
英文摘要：
The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on interactions with solid ground, many animals move on substrates that flow in response to intrusion. However, locomotor-ground interaction models on such flowable ground are often unavailable. We developed a force model for arbitrarily-shaped legs and bodies moving freely in granular media, and used this "terradynamics" to predict a small legged robot's locomotion on granular media using various leg shapes and stride frequencies. Our study reveals a complex but generic dependence of stresses in granular media on intruder depth, orientation, and movement direction and gives insight into the effects of leg morphology and kinematics on movement.
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