SenSnake：一种具有接触力感知能力的蛇形机器人，用于研究复杂三维地形中的运动
SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain
AI总结：
针对蛇形机器人难以穿越复杂三维地形的问题，本文开发了具备接触力感知的12节段蛇形机器人SenSnake，通过36个压阻传感器实现高重复性力测量，为系统研究感觉调节的力控制提供实验平台。
摘要：
尽管蛇形机器人在多种环境中的研究取得了进展，但在穿越具有大型障碍物的复杂三维地形方面，它们仍远不及真正的蛇类。这主要是因为缺乏对如何控制三维身体弯曲以推挤地形特征来产生和控制推进力的理解。生物学研究表明，通才型蛇类利用接触力感知实时调整身体弯曲来实现这一目标。然而，由于对蛇类力感知器官工作机制的基础知识缺乏，研究这种感觉调节的力控制在蛇类中颇具挑战。在此，我们采用机器人物理学方法推进研究，首先开发一种具备接触力感知能力、能进行三维身体弯曲的蛇形机器人，以实现系统性的运动实验和力测量。通过两轮开发和测试迭代，我们制造了一个12节段机器人，其所有节段均分布有36个压阻式片状传感器，并配有柔性外壳，采样频率为30赫兹。该机器人在利用垂直弯曲穿越大型障碍物时测量了接触力，具有高重复性，实现了为系统性实验提供平台的目标。最后，我们探索了考虑压阻传感器粘弹性行为的基于模型的校准方法，这将为未来的研究提供帮助。
英文摘要：
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understanding of how to control 3-D body bending to push against terrain features to generate and control propulsion. Biological studies suggested that generalist snakes use contact force sensing to adjust body bending in real time to do so. However, studying this sensory-modulated force control in snakes is challenging, due to a lack of basic knowledge of how their force sensing organs work. Here, we take a robophysics approach to make progress, starting by developing a snake robot capable of 3-D body bending with contact force sensing to enable systematic locomotion experiments and force measurements. Through two development and testing iterations, we created a 12-segment robot with 36 piezo-resistive sheet sensors distributed on all segments with compliant shells with a sampling frequency of 30 Hz. The robot measured contact forces while traversing a large obstacle using vertical bending with high repeatability, achieving the goal of providing a platform for systematic experiments. Finally, we explored model-based calibration considering the viscoelastic behavior of the piezo-resistive sensor, which will for useful for future studies.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
