火星熔岩管内抓取位点检测：ReachBot的多阶段感知权衡研究
Detecting Grasping Sites in a Martian Lava Tube: Multi-Stage Perception Trade Study for ReachBot
AI总结：
针对ReachBot攀爬机器人感知系统研究不足的问题，开展多维度权衡研究，明确了火星熔岩管任务的感知策略、硬件配置及原型传感器选型，为原型开发与测试提供系统设计方案。
摘要：
本文提出一项权衡研究分析，用于设计与评估ReachBot的感知系统架构。ReachBot是一种新型机器人概念，采用可展开臂末端的夹持器在洞穴岩壁、熔岩管壁等崎岖地形中行进。此前关于ReachBot的研究已探讨了机器人整体设计、可展开臂的布置与数量，以及夹持器机构设计，但感知与传感系统的分析仍不完善。由于ReachBot能够延伸数米量级的距离并与地形交互，因此可靠的感知与传感策略对识别抓取位置、实现完全自主运行至关重要。\n本次权衡研究聚焦于构建感知权衡空间，并为实体原型实现这类感知能力。研究涵盖以下分析内容：（1）ReachBot的多量程传感策略；（2）适用于地下攀爬机器人的传感器技术；（3）传感器评估标准；（4）传感器在ReachBot上的安装位置与模态；（5）抓取位置的地图表示方法。通过分析，我们确定了面向火星熔岩管全装备案例研究任务的整体感知策略与硬件配置，并明确了硬件原型所需的特定传感器。本次权衡研究的最终成果是一套适用于台架测试与原型硬件开发的系统设计。
英文摘要：
This paper presents a trade study analysis to design and evaluate the perception system architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end of deployable booms for navigation of rough terrain such as walls of caves and lava tubes. Previous studies on ReachBot have discussed the overall robot design, placement and number of deployable booms, and gripper mechanism design; however, analysis of the perception and sensing system remains underdeveloped. Because ReachBot can extend and interact with terrain over long distances on the order of several meters, a robust perception and sensing strategy is crucial to identify grasping locations and enable fully autonomous operation. This trade study focuses on developing the perception trade space and realizing such perception capabilities for a physical prototype. This work includes analysis of: (1) multiple-range sensing strategies for ReachBot, (2) sensor technologies for subsurface climbing robotics, (3) criteria for sensor evaluation, (4) positions and modalities of sensors on ReachBot, and (5) map representations of grasping locations. From our analysis, we identify the overall perception strategy and hardware configuration for a fully-instrumented case study mission to a Martian lava tube, and identify specific sensors for a hardware prototype. The final result of our trade study is a system design conducive to benchtop testing and prototype hardware development.
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。
