用于受限瓦砾环境中城市搜索与救援的藤蔓机器人的开发与测试
Development and Testing of a Vine Robot for Urban Search and Rescue in Confined Rubble Environments
AI总结：
本文提出一种受植物生长启发的藤蔓软体机器人，通过气动肌肉转向与反馈压力控制实现瓦砾环境中的穿透与导航，实验证明其可深入杂乱废墟并保持重复轨迹，适用于城市搜救任务。
摘要：
城市环境中自然和人为灾害后对快速响应和安全操作的需求，推动了旨在协助复杂瓦砾场地内搜索和救援行动的机器人系统的发展。传统无人机（UAV）和无人地面车辆（UGV）在此类受限且受阻的环境中面临显著限制。本文介绍了一种新型藤蔓机器人，其设计灵感来源于植物中发现的自然生长机制，旨在穿越密集瓦砾。与传统机器人不同，藤蔓机器人是一种软体机器人，可通过外翻其材料实现生长，从而能够穿越狭窄空间和障碍物。本研究中展示的原型集成了用于转向和摆动的气动肌肉、基于方程式的机器人长度控制以及反馈压力调节系统，用于机器人本体的伸展和收缩。我们在人工瓦砾试验台上进行了一系列受控实验，以评估机器人在不同环境条件和机器人参数（包括体积比、环境重量、摆动和转向）下的性能。结果表明，藤蔓机器人能够在具有混合障碍物尺寸和重量的杂乱环境中达到显著的穿透深度，并能保持重复轨迹，展示了其在复杂地下路径中进行测绘和导航的潜力。我们的研究结果凸显了藤蔓机器人在城市搜索和救援任务中的适用性，并计划开展进一步研究以增强其在真实场景中的鲁棒性和可部署性。
英文摘要：
The request for fast response and safe operation after natural and man-made disasters in urban environments has spurred the development of robotic systems designed to assist in search and rescue operations within complex rubble sites. Traditional Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) face significant limitations in such confined and obstructed environments. This paper introduces a novel vine robot designed to navigate dense rubble, drawing inspiration from natural growth mechanisms found in plants. Unlike conventional robots, vine robots are soft robots that can grow by everting their material, allowing them to navigate through narrow spaces and obstacles. The prototype presented in this study incorporates pneumatic muscles for steering and oscillation, an equation-based robot length control plus feedback pressure regulating system for extending and retracting the robot body. We conducted a series of controlled experiments in an artificial rubble testbed to assess the robot performance under varying environmental conditions and robot parameters, including volume ratio, environmental weight, oscillation, and steering. The results show that the vine robot can achieve significant penetration depths in cluttered environments with mixed obstacle sizes and weights, and can maintain repeated trajectories, demonstrating potential for mapping and navigating complex underground paths. Our findings highlight the suitability of the vine robot for urban search and rescue missions, with further research planned to enhance its robustness and deployability in real-world scenarios.
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。
