变形MILR：一种用于复杂环境中操纵的具有滚动关节的电缆驱动无肢体机器人的设计与控制
Morphing MILR: Design and control of a cable-driven limbless robot with rolling joints for maneuvering in complex environments
- Georgia Institute of Technology（佐治亚理工学院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
研究旨在解决单一无肢体机器人如何在保持柔顺运动稳健性的同时实现通用运动的问题。核心方法是结合可编程弯曲柔顺性和形态控制，设计了含滚动关节的电缆驱动机器人。主要贡献是实现多种运动模式，通过实验验证了其在复杂环境导航中的有效性。
AI中文摘要：
无肢体机器人因其纤细的身体以及利用身体与地形相互作用的能力，在狭窄和杂乱环境中具有出色的机动性。近期结合柔顺性的设计展示了无需复杂传感或控制的稳健运动；然而，这些系统通常依赖固定的身体配置。本文提出一种电缆驱动的无肢体机器人，通过重新配置身体形态和柔顺性来实现多种运动模式。分布式电缆驱动产生行进的身体波，可编程被动柔顺性实现无需地形知识或高带宽反馈的稳健且富含接触的运动。滚动关节可重新定向身体的弯曲平面，实现快速重新配置和运动方式间的平滑过渡。实验证明了该平台能可靠地产生步态、在多障碍环境中穿行及模式转换，为复杂环境导航建立了通用平台。
英文摘要：
Limbless robots offer exceptional mobility in confined and cluttered environments due to their slender bodies and their ability to exploit body-terrain interactions. Recent designs incorporating compliance demonstrate robust locomotion without complex sensing or control; however, these systems typically rely on fixed body configurations, with each morphology specialized for a single locomotion mode or environment. This raises a key challenge: how can a single limbless robot achieve versatile locomotion while preserving the robustness of compliance-mediated locomotion? To address this challenge, we present a cable-driven limbless robot that reconfigures body morphology and compliance to enable diverse locomotion modes. Distributed cable actuation generates traveling body waves, while programmable passive compliance enables robust contact-rich locomotion without terrain knowledge or high-bandwidth feedback. Rolling joints reorient bending planes along the body, enabling rapid reconfiguration and smooth transitions between locomotion styles, and incorporate geared locking to maintain configuration without continuous power. By combining programmable bending compliance and morphology control, the platform achieves lateral undulation, sidewinding, rolling, and twisting within a single system. Experiments demonstrate reliable gait generation, traversal in obstacle-rich environments, and transitions between modes, establishing a versatile limbless platform for navigating complex environments with applications in search and rescue, environmental monitoring, and inspection.
