发表机构
Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文研究四足机器人Unitree Go2用于屋顶建筑工作的可行性，通过测试发现其标准球形脚在斜坡屋顶存在打滑等问题，为该领域研究建立基线并提出改进方向。
AI 中文摘要
本文研究了将四足行走机器人部署到屋顶环境工作自动化中的可行性。尽管四足机器人已在多个领域展现出通用性，但其大规模部署仍受限于缺乏针对特定应用的设计。屋顶环境是一种新颖且未被探索的应用场景，既存在人类工人的高安全风险，又有可从机器人辅助中受益的重复性、高强度任务。本文设计了一个专用的屋顶表面测试台，以评估商用四足机器人Unitree Go2在该新环境中的基线性能。实验显示，标准球形脚在斜坡屋顶上的移动存在固有不足：打滑率随倾斜角度呈二次方增长，起身与卧倒序列仅能在小倾斜角度下完成，在25°的中等倾斜角度下已频繁出现关键故障。本研究首次对四足机器人在屋顶环境中的移动进行了系统评估，既凸显了该应用的潜力与当前局限，也为未来研究建立了基线。有效的解决方案需结合面向任务的足部设计、先进的接触力学以及针对环境的控制策略，例如用于适配屋顶步态的强化学习。
英文摘要
This paper investigates the feasibility of deploying quadruped walking robots for the automation of work in roof environments. While quadrupeds have demonstrated versatility across various domains, their large-scale deployment remains limited, partly due to lack of application-specific designs. Roof environments represent a novel and unexplored use case, combining high safety risks for human workers with repetitive, strenuous tasks that could benefit from robotic assistance. A dedicated test rig of a roof's surface was designed to evaluate the baseline performance of a commercial quadruped, the \emph{Unitree Go2}, in this new environment. Experiments revealed that standard ball feet are inherently inadequate for locomotion on sloped roofs: slippage increased quadratically with incline angle, get-up and lie-down sequences were only possible on small inclines, and critical failures already occurred regularly on moderate inclines of 25°. This work provides the first systematic assessment of quadruped locomotion in roof environments, highlighting both the potential and the current limitations of this application and establishes a baseline for future research. Effective solutions will require a combination of task-oriented foot designs, advanced contact mechanics and environment-specific control strategies, such as reinforcement learning for roof-adapted gaits.
CommentsPreprint of paper which appeared in the Proceedings of CLAWAR 2026, 29th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Cranfield University, Cranfield, Beford, United Kingdome, 2026
