面向火星熔岩管探测的跳跃式足式机器人设计与实验验证
Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration
AI总结：
针对火星熔岩管探测需求，研究人员设计了一款腿部构型可适配双足/四足系统、采用五杆机构加弹簧结构的跳跃式足式机器人，经实验与仿真验证其在地球和火星重力下均具备较强跳跃能力，适用于低重力障碍环境探测。
摘要：
火星熔岩管在资源开采与栖息地庇护方面的潜力，凸显了对能够承担其探测这一艰巨任务的机器人的需求。受此动机驱动，本研究提出了一套针对火星低重力环境下跳跃优化的足式机器人系统，其腿部构型可适配双足与四足系统。该设计采用扭矩控制执行器搭配弹簧，以实现高功率跳跃、稳健运动以及节能的静止姿态。关键设计特征包括以五杆机构作为腿部概念结构，并结合由高强度绳索连接的弹簧。选定的五杆连杆长度与弹簧刚度经过优化，以最大化火星重力下的跳跃高度，并被制作为机器人腿部。将两条这样的腿部与紧凑机身结合，开展了双足原型机的跳跃测试。该机器人高0.472米，重7.9千克。在留有充足安全余量的跳跃测试中，测得其在地球重力下的跳跃高度为1.141米，本文共展示了4次跳跃实验。利用该设计的满电机扭矩与运动学极限进行的仿真显示，其在地球重力下的最大可达跳跃高度为1.52米，在火星重力下为3.63米，凸显了跳跃作为一种运动方式的多功能性，以及在低重力环境下跨越障碍的能力。
英文摘要：
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged robot system optimized for jumping in the low gravity of Mars, designed with leg configurations adaptable to both bipedal and quadrupedal systems. This design utilizes torque-controlled actuators coupled with springs for high-power jumping, robust locomotion, and an energy-efficient resting pose. Key design features include a 5-bar mechanism as leg concept, combined with springs connected by a high-strength cord. The selected 5-bar link lengths and spring stiffness were optimized for maximizing the jump height in Martian gravity and realized as a robot leg. Two such legs combined with a compact body allowed jump testing of a bipedal prototype. The robot is 0.472 m tall and weighs 7.9 kg. Jump testing with significant safety margins resulted in a measured jump height of 1.141 m in Earth's gravity, while a total of 4 jumping experiments are presented. Simulations utilizing the full motor torque and kinematic limits of the design resulted in a maximum possible jump height of 1.52 m in Earth's gravity and 3.63 m in Mars' gravity, highlighting the versatility of jumping as a form of locomotion and overcoming obstacles in lower gravity.
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。
