忒修斯机器人：用于腿式运动的模块化机器人试验台
The Robot of Theseus: A modular robotic testbed for legged locomotion
AI总结：
本研究提出名为TROT的低成本模块化四足机器人试验台，可匹配多种动物形态用于生物力学假设检验，硬件开源且应用场景广泛。
摘要：
机器人模型可用于独立改变特定特征，但大多数四足机器人与动物形态差异极大，因此生物力学相关性极低。市售四足机器人对于生物研究项目来说也过于昂贵，且难以定制。在此，我们提出一种配备模块化腿部的低成本四足机器人，它能够匹配多种动物形态，用于生物力学假设检验。忒修斯机器人（The Robot Of Theseus, TROT）由3D打印部件和标准现成耗材构建，制造成本约为4000美元。每条肢体由2或3个刚性连杆组成；近端关节可旋转，以充当膝关节或肘关节。伸缩机构可改变每个肢体连杆的长度。其开源软件支持用户自定义步态和形态调整。有效腿长（即蹲伏程度）由驱动每个关节的四连杆机构决定。可反向驱动的电机能够调节虚拟弹簧刚度和运动范围。TROT的硬件和软件完整说明可在线免费获取。我们展示了使用TROT比较现存、已灭绝和理论形态之间的运动差异。除了生物力学假设检验外，我们设想这个低成本、模块化的腿式机器人平台还有多种不同应用，包括开发新型控制策略、清除地雷或远程勘探。所有CAD文件和代码均可在TROT项目页面下载。
英文摘要：
Robotic models are useful for independently varying specific features, but most quadrupedal robots differ so greatly from animal morphologies that they have minimal biomechanical relevance. Commercially available quadrupedal robots are also prohibitively expensive for biological research programs and difficult to customize. Here, we present a low-cost quadrupedal robot with modular legs that can match a wide range of animal morphologies for biomechanical hypothesis testing. The Robot Of Theseus (TROT) costs approximately $4000 to build out of 3D printed parts and standard off-the-shelf supplies. Each limb consists of 2 or 3 rigid links; the proximal joint can be rotated to become a knee or elbow. Telescoping mechanisms vary the length of each limb link. The open-source software accommodates user-defined gaits and morphology changes. Effective leg length, or crouch, is determined by the four-bar linkage actuating each joint. The backdrivable motors can vary virtual spring stiffness and range of motion. Full descriptions of the TROT hardware and software are freely available online. We demonstrate the use of TROT to compare locomotion among extant, extinct, and theoretical morphologies. In addition to biomechanical hypothesis testing, we envision a variety of different applications for this low-cost, modular, legged robotic platform, including developing novel control strategies, clearing land mines, or remote exploration. All CAD and code is available for download on the TROT project page.
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。
