基于模块化跳跃足式机器人的系绳可变惯性姿态控制机构
Tethered Variable Inertial Attitude Control Mechanisms through a Modular Jumping Limbed Robot
AI总结：
本文提出面向低重力行星探测的系绳可变惯性姿态控制机构SPLITTER，由两台亚10kg四足机器人经系绳连接，通过MPC调整肢体和系绳长度改变转动惯量实现飞行稳定，无需飞轮或气动支持，为小型行星机器人连续跳跃探测提供高效方案。
摘要：
本文提出了一种面向低重力环境行星探测的模块化跳跃足式机器人的系绳可变惯性姿态控制机构概念。该系统名为SPLITTER，由两台重量均低于10千克的四足机器人通过系绳连接而成，能够执行连续跳跃步态，并利用惯性变形技术实现飞行过程中的稳定。通过模型预测控制（MPC），系统通过调整肢体姿态和系绳长度来改变系统的主转动惯量，从而实现姿态控制。研究结果表明，该控制策略无需传统的基于飞轮的系统，也不依赖空气动力学效应，即可让机器人在飞行阶段保持稳定，具备质量效率高的特点，非常适合小型行星机器人的连续跳跃任务。本文阐述了系统动力学、面向惯性变形的MPC公式推导、执行器需求以及仿真结果，展现了小型探测车在月球、小行星等低重力环境中实现敏捷探测的潜力。
英文摘要：
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10 kg quadrupedal robots connected by a tether, capable of executing successive jumping gaits and stabilizing in-flight using inertial morphing technology. Through model predictive control (MPC), attitude control was demonstrated by adjusting the limbs and tether length to modulate the system's principal moments of inertia. Our results indicate that this control strategy allows the robot to stabilize during flight phases without needing traditional flywheel-based systems or relying on aerodynamics, making the approach mass-efficient and ideal for small-scale planetary robots' successive jumps. The paper outlines the dynamics, MPC formulation for inertial morphing, actuator requirements, and simulation results, illustrating the potential of agile exploration for small-scale rovers in low-gravity environments like the Moon or asteroids.
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。
