论文标题
太平洋七lamp窃灵感攀登
Pacific Lamprey Inspired Climbing
论文作者
论文摘要
蛇及其生物启发的机器人在广泛的地形上表现出了运动。但是，动态垂直攀爬是一种运动策略，在现有的蛇机器人文献中很少关注。我们展示了一个新的扫描步态和机器人，其灵感来自太平洋七lamp的运动。这种新步态使机器人在爬上平坦的近垂直表面时可以转向。开发了一个降低的模型，并用于探索机器人的身体致动与垂直和横向运动之间的关系。 Trident是新的以Lamprey为灵感的机器人，在平坦的垂直表面上展示了动态攀爬，峰值净垂直步幅位移为每步4.1 cm。 Trident在1.3 Hz处促进，以8.3的特定电阻达到4.8 cm/s（0.09 bl/s）的垂直攀升速度。三叉戟也可以在9 cm/s（0.17 bl/s）的侧面横向穿越。此外，Trident垂直攀登时，比太平洋七lamp虫的步伐更长14％。计算和实验结果表明，lamp带风格的攀爬步态以及适当的附件是蛇机器人在垂直表面附近攀爬的有用的攀爬策略，具有有限的推动点。
Snakes and their bio-inspired robot counterparts have demonstrated locomotion on a wide range of terrains. However, dynamic vertical climbing is one locomotion strategy that has received little attention in the existing snake robotics literature. We demonstrate a new scansorial gait and robot inspired by the locomotion of the Pacific Lamprey. This new gait allows a robot to steer while climbing on flat, near-vertical surfaces. A reduced-order model is developed and used to explore the relationship between body actuation and vertical and lateral motions of the robot. Trident, the new wall climbing lamprey-inspired robot, demonstrates dynamic climbing on flat vertical surfaces with a peak net vertical stride displacement of 4.1 cm per step. Actuating at 1.3 Hz, Trident attains a vertical climbing speed of 4.8 cm/s (0.09 Bl/s) at specific resistance of 8.3. Trident can also traverse laterally at 9 cm/s (0.17 Bl/s). Moreover, Trident is able to make 14\% longer strides than the Pacific Lamprey when climbing vertically. The computational and experimental results demonstrate that a lamprey-inspired climbing gait coupled with appropriate attachment is a useful climbing strategy for snake robots climbing near vertical surfaces with limited push points.
