CLIO：一种用于恶劣山地环境探索与救援任务的新型机器人解决方案
CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments
AI总结：
本文提出绳索辅助攀爬机器人CLIO，通过绳索与单腿跳跃相结合实现接近垂直山坡上的重载移动，并利用最优控制与简化模型实现快速轨迹生成，仿真验证了其有效性与可达性。
摘要：
山地环境中的救援任务很难由标准腿足机器人完成——因为坡度较高——也很难由飞行机器人完成——因为有效载荷能力有限。我们提出了一种绳索辅助攀爬机器人的概念，该机器人能够通过接近垂直的斜坡并携带重型有效载荷。该机器人通过绳索附着在山体上，并配备一条腿以推离山体并发起跳跃机动。在跳跃之间，使用绞车收放绳索以实现垂直移动并影响横向运动。这种简单（但有效）的双重驱动方式使系统能够实现高安全性和高能效。实际上，绳索防止机器人坠落，同时补偿了其大部分重量，大幅减少了腿部执行器所需的出力。我们还提出了一种最优控制策略，用于生成越过障碍物的点到点轨迹。由于使用了定制的简化机器人模型，我们实现了快速计算时间（<1 s）。我们在Gazebo仿真中使用完整的机器人模型验证了所生成的最优运动，在16 m长的跳跃上误差小于5%，证明了所提出方法的有效性，并证实了我们概念的价值。最后，我们进行了可达性分析，表明可到达目标区域受到足-壁接触摩擦特性的强烈影响。
英文摘要：
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can negotiate up-to-vertical slopes and carry heavy payloads. The robot is attached to the mountain through a rope, and it is equipped with a leg to push against the mountain and initiate jumping maneuvers. Between jumps, a hoist is used to wind/unwind the rope to move vertically and affect the lateral motion. This simple (yet effective) two-fold actuation allows the system to achieve high safety and energy efficiency. Indeed, the rope prevents the robot from falling while compensating for most of its weight, drastically reducing the effort required by the leg actuator. We also present an optimal control strategy to generate point-to-point trajectories overcoming an obstacle. We achieve fast computation time (<1 s) thanks to the use of a custom simplified robot model. We validated the generated optimal movements in Gazebo simulations with a complete robot model with a < 5% error on a 16 m long jump, showing the effectiveness of the proposed approach, and confirming the interest of our concept. Finally, we performed a reachability analysis showing that the region of achievable targets is strongly affected by the friction properties of the foot-wall contact.
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。
