发表机构
Duke University（杜克大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
提出MARBLE，一种通过内部质量重新分布驱动的全方位两栖滚动机器人，利用球形外壳实现陆地滚动与水面推进，无需机械重构，并验证了跨介质移动与障碍物交互能力。
AI 中文摘要
野外机器人必须穿越各种地形和障碍物，同时保持对水、碎片、植被和物理接触的鲁棒性。我们提出了MARBLE，一种完全封闭的全方位两栖滚动机器人，完全依靠内部质量重新分布来驱动。三个相互正交的线性滑块移动内部质量以产生身体旋转，而一个面向方向的控制器将平面速度命令映射为滑块位置。刚性球形外壳封装了所有主动机制，同时作为陆地接触表面、浮力外壳和被动鳍片的安装结构，这些鳍片可实现水面推进。因此，相同外壳架构的旋转可在陆地上产生滚动，在水中产生水面推进，无需机械重构或单独的移动执行器。球形形态还允许机器人在与地形和障碍物直接交互期间适应身体方向和接触位置的变化。我们通过全方位运动表征、跨异构陆地环境穿越、水生表面运动、陆地-水过渡以及有意的障碍物交互来评估MARBLE。这些实验证明，单一封闭机械架构可以结合全方位移动性、跨介质运动和对外部接触的容忍性。MARBLE为跨异构地形、障碍物和陆地-水过渡的野外移动提供了一种紧凑设计。我们将开源所有软件和硬件设计。我们的网站是https://generalroboticslab.com/MARBLE
英文摘要
Field robots must traverse varied terrain and obstacles while remaining robust to water, debris, vegetation, and physical contact. We present MARBLE, a fully enclosed omnidirectional amphibious rolling robot driven entirely by internal mass redistribution. Three mutually orthogonal linear sliders shift internal masses to generate body rotation, while an orientation-aware controller maps planar velocity commands into slider positions. A rigid spherical shell encloses all active mechanisms and simultaneously serves as the terrestrial contact surface, buoyant enclosure, and mounting structure for passive fins that enable water-surface propulsion. Rotation of the same shell architecture hence produces rolling on land and surface propulsion in water without mechanical reconfiguration or separate locomotion actuators. The spherical morphology further allows the robot to accommodate changes in body orientation and contact location during direct interactions with terrain and obstacles. We evaluate MARBLE through omnidirectional locomotion characterization, traversal across heterogeneous terrestrial environments, aquatic surface locomotion, land-water transitions, and deliberate obstacle interactions. These experiments demonstrate how a single enclosed mechanical architecture can combine omnidirectional mobility, cross-medium locomotion, and tolerance to environmental contact. MARBLE provides a compact design for field mobility across heterogeneous terrain, obstacles, and land-water transitions. We will open-source all software and hardware design. Our website is https://generalroboticslab.com/MARBLE
