SPROUT：用于搜索与救援的开源软体生长机器人

中文摘要 AI 辅助

软体机器人系统长期以来一直被理论认为是用于搜索与救援行动的理想候选者；然而，将软体机器人系统从实验室推广到实际现场应用中一直存在显著的进入障碍。为了解决这一在可复制、可靠的软体机器人系统方面的空白，我们提出了SPROUT（软体寻路观测单元）的设计方案。该系统经过多年与专业城市搜索与救援社区的互动而不断成熟，其目标是在多尘、潮湿和隔离的环境中运行。本手稿包含补充材料，包括代码、零件清单、CAD装配体和构建说明，以使更广泛的机器人研究社区能够构建他们自己的SPROUT系统。模块化硬件和基于ROS 2的软件栈支持特定任务的载荷和控制功能，使SPROUT能够适应搜索与救援之外的应用，包括基础设施检查和考古学。在此，我们展示了SPROUT在急救人员使用的坍塌结构训练场地中执行各种具有挑战性的检查和穿越任务。主项目页面可在以下网址在线获取：此https URL。

英文摘要

Soft robotic systems have long been theorized as ideal candidates for use in search and rescue operations; however, there have been significant barriers to entry in graduating soft robotic systems from the laboratory to the field. To address this gap in replicable, reliable soft robot systems, we present the designs for SPROUT, the Soft Pathfinding Robotic Observation Unit. The system has matured over years of interaction with professional urban search and rescue communities, with the goal of operating in dusty, wet, and isolated conditions. This manuscript contains supplementary material, including code, parts manifests, CAD assemblies, and build instructions to allow the broader robotics research community to build their own SPROUT systems. The modular hardware and ROS 2-based software stack support task-specific payloads and control functions, allowing SPROUT to be adapted for applications beyond search and rescue, including infrastructure inspection and archaeology. Here, we demonstrate SPROUT performing a variety of challenging inspection and traversal tasks in collapsed structure training sites used by first responders. The main project page is available online at https://sprout-mitll.github.io/sprout/.

发表机构

• Lincoln Laboratory, Massachusetts Institute of Technology（麻省理工学院林肯实验室）
• University of Notre Dame（圣母大学）
• Stanford University（斯坦福大学）

机构由 AI 辅助整理，请以论文原文为准。