发表机构
University of California Santa Barbara（加州大学圣塔芭芭拉分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种290克垂直跳跃攀爬机器人，通过形态与轨迹协同设计，实现带腾空阶段的弹跳攀爬，速度达0.375米/秒，并支持地面运动与垂直表面过渡。
AI 中文摘要
松鼠甚至熊等动物已经适应了快速攀爬树木和其他复杂垂直地形，但实现类似的敏捷性对攀爬机器人来说一直是一个挑战。现有机器人通常采用行走步态并保守移动以保持与表面的接触，这限制了动态机动的范围。在本文中，我们展示了一个290克的机器人，据我们所知，它是第一个通过弹跳（带有腾空阶段）实现垂直攀爬的机器人。我们利用协同设计工作流程，在该流程中，形态和轨迹被联合优化以实现快速运动，同时受限于脊柱抓取器中看到的粘附力限制。由此产生的轨迹包括一个将机器人垂直发射的快速机动，以及一个空中重新定向，利用后腿作为惯性尾巴将前抓取器带回表面。我们在二维力空间中评估了由此产生的跳跃力，并证明优化后的形态能够以0.375米/秒（1.97个身体长度/秒）的速度连续攀爬，并且还能实现地面运动并过渡到垂直表面。我们的工作为跳跃攀爬机动提出了设计见解，并朝着创造与动物敏捷性相当的攀爬机器人迈出了重要一步。
英文摘要
Animals such as squirrels and even bears have adapted to rapidly climb up trees and other complex vertical terrain, but achieving comparable agility has been a challenge for climbing robots. Existing robots often use walking gaits and move conservatively to stay in contact with the surface, which limits the range of dynamic maneuvers. In this paper we present a 290 g robot that, to our knowledge, is the first to climb vertically by bounding (with an aerial phase). We leverage a co-design workflow, in which the morphology and trajectory are jointly optimized for fast locomotion, subject to adhesion force limitations seen in spined grippers. The resulting trajectory includes a rapid maneuver that launches the robot vertically, and an aerial reorientation that brings the front grippers back to the surface using the rear leg as an inertial tail. We evaluate the resulting jump forces in 2D force space and demonstrate that the optimized morphology is capable of continuous climbing at a speed of 0.375 m/s (1.97 body lengths/s), and can also achieve ground locomotion and transition to a vertical surface. Our work proposes design insights for the jump-climbing maneuver and serves as an important step toward creating climbing robots with agility on par with that of animals.
Comments8 pages
