GeoTrussRover：基于接触语义控制原语的形态计算
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
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中文总结 AI 辅助
针对变几何桁架机器人与轮式基座的高维协调问题，提出接触语义形态规划与控制方法，通过物理约束投影复用运动原语，减少63.7%计算量，实现0.46米台阶跨越。
中文摘要 AI 辅助
可重构机器人在固定机体无法通过障碍物时，能够改变其接触几何形状。变几何桁架（VGT）通过承载结构分布这种形状变化，但将其与移动基座耦合会产生高维协调问题。GeoTrussRover结合了电驱动VGT、轮式基座以及接触语义形态规划与控制。我们解决了一次源穿越，并提取了四种描述21个构件之间协调的接触语义原语。物理约束投影使这些原语适应于具有相同接触拓扑的未见台阶高度。当每个阶段保持可行时，适应过程不会重新计算完整运动。如果某个阶段违反新的物理约束，则仅重新计算该阶段。全空间QP随后跟踪适应后的运动并修正构件和车轮误差。对于从0.10m到0.075m的转移，该方法相对于完全重新计算将目标函数评估次数减少了63.7%。接触阶段可行性分析覆盖了从0.10m到0.46m（即1.08到4.97个车轮半径）的台阶高度，上限接近理论可行边界。电动原型穿越了2.11个车轮半径。所得到的低维表示将任务协调存储在超冗余的承载形态中，并在运动过程中重复使用。
英文摘要
Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load-bearing structure, but coupling it to a mobile base creates a high-dimensional coordination problem. GeoTrussRover combines an electrically actuated VGT, a wheeled base, and contact-semantic morphology planning and control. We solve one source traversal and extract four contact-semantic primitives that describe coordination among 21 members. Physics-constrained projection adapts them to unseen step heights with the same contact topology. When every phase remains feasible, adaptation does not recompute the complete motion. If one phase violates the new physical constraints, only that phase is recomputed. A full-space QP then tracks the adapted motion and corrects member and wheel errors. For transfer from 0.10m to 0.075m, the method reduces objective-function evaluations by 63.7% relative to full recomputation. Contact-phase feasibility analysis covers step heights from 0.10 to 0.46m, or 1.08 to 4.97 wheel radii, with the upper value near the theoretical feasible boundary. The electric prototype traverses 2.11 wheel radii. The resulting low-dimensional representation stores task coordination in a hyper-redundant, load-bearing morphology and reuses it during locomotion.
