Spiderbot：一种具有被动重力补偿的开源节能六足机器人

中文摘要 AI 辅助

六足机器人相比双足或四足机器人，可以用更少的驱动关节实现静态稳定，然而许多平台仍使用3自由度腿部，增加了重量和持续扭矩需求，而在平坦、倾斜和中等粗糙地形上的运动能力提升有限。我们发布了Spiderbot，一种开源六足机器人，采用带被动弹簧的四杆机构来机械支撑身体重量，每条腿仅2个自由度，大幅降低了能耗。该机构在站立姿态下大幅卸载重力扭矩，仅消耗1.5W（相比无弹簧版本降低超过90%，相比其他类似六足机器人降低高达96%）。被动弹簧补偿可延伸至高达3.25kg的有效载荷，无需额外扭矩要求。该平台可在适中的电池预算下实现长时间部署，成本低于400美元，适合大规模多智能体实验。我们通过在mjlab中训练的强化学习策略验证了平台的运动能力，包括成功的仿真到现实迁移，尽管机构复杂。平台在平坦和粗糙地形、高达15°的坡度和台阶障碍上进行了评估。我们在https://erc-bpgc.github.io/SpiderBot/发布了所有CAD文件、组装说明、完整训练和部署代码以及模型检查点。

英文摘要

Hexapod robots can achieve static stability with fewer actuated joints than bipeds or quadrupeds, yet many platforms still use 3-DOF legs, increasing weight and continuous torque requirement with limited gain in locomotion capability on flat, inclined and moderately rough terrains. We release Spiderbot, an open-source hexapod that uses a 4-bar linkage with a passive spring to mechanically support body weight, with a 2-DOF per-leg design that substantially reduces energy consumption. This mechanism substantially offloads gravitational torque during standing stance consuming only 1.5W (reduction of over 90\% over the unsprung version and up to 96\% over other similar hexapods). The passive spring compensation extends to payloads of up to 3.25kg with no additional torque requirements. The platform enables long-duration deployments on a modest battery budget and costs under \$400, making it suitable for large-scale multi-agent experiments. We validate the locomotion capabilities of the platform with an RL policy trained in mjlab, including successful sim-to-real transfer, despite the complexity of the mechanism. The platform is evaluated on flat and rough terrains, slope up to $15^\circ$ and step obstacles. We release all the CAD files, assembling instructions, and full training and deployment code along with the model checkpoints at https://erc-bpgc.github.io/SpiderBot/.

发表机构

• BITS Pilani, KK Birla Goa Campus（比拉理工学院果阿校区）

机构由 AI 辅助整理，请以论文原文为准。

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