利用机翼进行动态地面自扶正的力学原理
Mechanical principles of dynamic terrestrial self-righting using wings
摘要：
陆地动物和机器人在复杂地形中快速移动时容易发生翻转。然而，与昆虫等小动物相比，小型机器人从倒置方向自我扶正的能力较低。受有翅膀的盘状蟑螂的启发，我们设计了一种新的机器人，它可以通过推动地面来打开翅膀进行自我纠正。我们使用这个机器人系统地测试自扶正性能如何取决于机翼打开幅度，速度和不对称性，并模拟运动学和能量要求如何取决于机翼形状和身体/机翼质量分布。我们发现，机器人的自我权利动态使用动能，以克服潜在的能量障碍，更大和更快的对称机翼打开增加自扶正性能，打开机翼不对称增加扶正概率时，机翼打开是小的。研究结果表明，盘状蟑螂的翅自翻正运动是一种动态的运动。虽然盘状蟑螂和我们的机器人的薄而轻的翅膀与高而重的翅膀相比，在自我扶正方面处于次优状态，但与静态外壳相比，它们打开翅膀的能力为它们节省了大量能量。类似于生物学的适应，我们的研究为陆地机器人提供了一个概念验证，以新颖的方式使用现有的形态来克服新的运动挑战。
英文摘要：
Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening magnitude, speed, and asymmetry, and modeled how kinematic and energetic requirements depend on wing shape and body/wing mass distribution. We discovered that the robot self-rights dynamically using kinetic energy to overcome potential energy barriers, that larger and faster symmetric wing opening increases self-righting performance, and that opening wings asymmetrically increases righting probability when wing opening is small. Our results suggested that the discoid cockroach's winged self-righting is a dynamic maneuver. While the thin, lightweight wings of the discoid cockroach and our robot are energetically sub-optimal for self-righting compared to tall, heavy ones, their ability to open wings saves them substantial energy compared to if they had static shells. Analogous to biological exaptations, our study provided a proof-of-concept for terrestrial robots to use existing morphology in novel ways to overcome new locomotor challenges.
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