SKOOTR：一款滑行式、全向、三足机器人
SKOOTR: A SKating, Omni-Oriented, Tripedal Robot
AI总结：
针对三足机器人转向受限与步态低效问题，提出兼具摩擦与滚动接触及自由旋转中心球体的SKOOTR，实现多步态、转弯、越障和爬梯，开源且成本约500美元。
摘要：
在动物和机器人中，运动能力由系统的物理结构决定。大多数有腿动物和机器人具有双侧对称性，这有助于保持一致的航向和跨越障碍，但限制了其转弯能力。另一方面，径向对称动物展现出由其全向身体结构带来的快速转弯能力。径向对称的三足机器人能够瞬时转向，但通常受限于每一步都需要改变方向，导致运动效率低下且稳定性较差。我们通过引入一种兼具摩擦接触和滚动接触的新型三足机器人设计来解决这些挑战。此外，一个自由旋转的中心球体提供了额外的接触点，使机器人在用任意一条腿抬起和推动时，能够保持稳定的三足支撑基座。SKOOTR（滑行式、全向、三足机器人）比现有其他三足机器人更具多功能性和稳定性。它能够执行多种前进步态、多种转弯机动、跨越障碍以及攀爬楼梯。SKOOTR的设计旨在便于针对多样化应用进行定制：它完全开源，由3D打印或现成部件构建，制造成本约为500美元。
英文摘要：
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and obstacle traversal, but leads to constraints in their turning ability. On the other hand, radially symmetric animals have demonstrated rapid turning abilities enabled by their omni-directional body plans. Radially symmetric tripedal robots are able to turn instantaneously, but are commonly constrained by needing to change direction with every step, resulting in inefficient and less stable locomotion. We address these challenges by introducing a novel design for a tripedal robot that has both frictional and rolling contacts. Additionally, a freely rotating central sphere provides an added contact point so the robot can retain a stable tripod base of support while lifting and pushing with any one of its legs. The SKating, Omni-Oriented, Tripedal Robot (SKOOTR) is more versatile and stable than other existing tripedal robots. It is capable of multiple forward gaits, multiple turning maneuvers, obstacle traversal, and stair climbing. SKOOTR has been designed to facilitate customization for diverse applications: it is fully open-source, is constructed with 3D printed or off-the-shelf parts, and costs approximately $500 USD to build.
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。
