替代地面机器人穿越沙质和岩石地外地形之必要性及可行性
The need for and feasibility of alternative ground robots to traverse sandy and rocky extraterrestrial terrain
AI总结：
针对轮式机器人在极端地外地形上的局限，本文论证了基于terradynamics原理的多足及无肢仿生机器人的必要性与可行性，以扩展行星探测能力。
摘要：
机器人航天器已助力我们扩展了许多行星探测任务的触及范围。大多数地面移动行星探测机器人采用轮式或改良轮式平台。尽管它们在完成既定任务目标方面极为成功，但由于轮式运动的局限性，它们大体上仅限于平缓、坚实的 terrain，并避开了具有松散土壤/沙子和大型岩石的极端地形。不幸的是，这类具有挑战性的地形往往对行星地质学具有科学意义。尽管许多动物能轻松穿越此类地形，但机器人尚未达到其性能和鲁棒性。这主要归因于缺乏对如何通过与复杂地形的受控相互作用产生有效运动的基本理解，这种理解需达到与飞行空气动力学和水下航行器水动力学同等的水平。早期关于有腿和无肢运动器与地面相互作用的基本理解，已使仿生机器人在相对平坦、带有小障碍物的地面上实现稳定高效的运动成为可能。运动器-地形相互作用这一新领域（terradynamics）的最新进展，开始揭示在松散土壤/沙子和大型障碍物上仿生运动的原理。利用terradynamics洞见的多足和无肢平台，有望作为穿越极端地外地形和扩展行星探测范围的稳健替代平台。
英文摘要：
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended mission goals, because of the limitations of wheeled locomotion, they have been largely limited to benign, solid terrain and avoided extreme terrain with loose soil/sand and large rocks. Unfortunately, such challenging terrain is often scientifically interesting for planetary geology. Although many animals traverse such terrain at ease, robots have not matched their performance and robustness. This is in major part due to a lack of fundamental understanding of how effective locomotion can be generated from controlled interaction with complex terrain on the same level of flight aerodynamics and underwater vehicle hydrodynamics. Early fundamental understanding of legged and limbless locomotor-ground interaction has already enabled stable and efficient bio-inspired robot locomotion on relatively flat ground with small obstacles. Recent progress in the new field of terradynamics of locomotor-terrain interaction begins to reveal the principles of bio-inspired locomotion on loose soil/sand and over large obstacles. Multi-legged and limbless platforms using terradynamics insights hold the promise for serving as robust alternative platforms for traversing extreme extraterrestrial terrain and expanding our reach in planetary exploration.
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。
