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首页> 外文期刊>Bioinspiration & biomimetics >Dynamic traversal of large gaps by insects and legged robots reveals a template
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Dynamic traversal of large gaps by insects and legged robots reveals a template

机译：昆虫和腿机器人的动态遍历大隙显示模板

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It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior knowledge or high-fidelity sensing of the environment. However, during dynamic locomotion in complex, novel, 3D terrains, such as a forest floor and building rubble, sensing and planning suffer bandwidth limitation and large noise and are sometimes even impossible. Here, we study rapid locomotion over a large gap-a simple, ubiquitous obstacleto begin to discover the general principles of the dynamic traversal of large 3D obstacles. We challenged the discoid cockroach and an open-loop six-legged robot to traverse a large gap of varying length. Both the animal and the robot could dynamically traverse a gap as large as one body length by bridging the gap with its head, but traversal probability decreased with gap length. Based on these observations, we developed a template that accurately captured body dynamics and quantitatively predicted traversal performance. Our template revealed that a high approach speed, initial body pitch, and initial body pitch angular velocity facilitated dynamic traversal, and successfully predicted a new strategy for using body pitch control that increased the robot's maximal traversal gap length by 50%. Our study established the first template of dynamic locomotion beyond planar surfaces, and is an important step in expanding terradynamics into complex 3D terrains.
机译：众所周知，动物可以通过视觉，触觉感测和回声定位来使用神经和感觉反馈来协商障碍。同样，大多数机器人使用故意或反应性计划来避免障碍，这依赖于对环境的先验知识或高保真感。然而，在大型的动态运动期间，小说，3D地形，例如森林地板和建筑物瓦砾，传感和规划遭受带宽限制和大噪音，有时甚至不可能。在这里，我们研究了巨大差距的快速运动 - 一种简单的，无处不在的障碍开始发现大型3D障碍的动态遍历的一般原则。我们挑战了盘状蟑螂和一个开环六腿机器人来横穿变化长度的巨大间隙。动物和机器人都可以通过用头部桥接间隙来动态地穿过一个体长度的间隙，但是横向概率随间隙长度而降低。基于这些观察，我们开发了一种准确地捕获身体动态和定量预测遍历性能的模板。我们的模板透露，高接近的速度，初始机身间距和初始体间距角速度有助于动态遍历，并成功地预测了使用体俯仰控制的新策略，使机器人的最大横向间隙长度增加50％。我们的研究建立了超出平面表面的动态运动的第一个模板，并且是扩展走势器到复杂的3D地形的重要一步。

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