缠绕环境中行走的本体感知与反应
Proprioception and reaction for walking among entanglements
AI总结：
本文提出一种针对腿式机器人腿部缠绕的本体感知方法和在摆动相解开腿部的反应策略，使机器人能穿越多种刚度和几何形状的缠绕物，在实验室16次试验中成功14次并适用于户外环境。
摘要：
自然环境中的藤蔓和树枝或人类空间中的绳索和管道等缠绕物阻碍了移动机器人进入许多环境。腿式机器人应该在这些环境中比轮式或履带式平台更有效，但简单的控制器会迅速被缠绕并卡住。在本文中，我们提出了一种专门针对感知机器人腿部缠绕任务的本体感知方法，以及在腿部摆动相向下一个落足点推进时解开腿部的反应策略。我们展示了我们的本体感知和反应策略能够穿越多种刚度和几何形状的缠绕物，在实验室测试的16次试验中成功了14次，并且也适用于自然户外环境。
英文摘要：
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensing entanglements of a robot's legs as well as a reaction strategy to disentangle legs during their swing phase as they advance to their next foothold. We demonstrate our proprioception and reaction strategy enables traversal of entanglements of many stiffnesses and geometries succeeding in 14 out of 16 trials in laboratory tests, as well as a natural outdoor environment.
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。
