论文标题
蛇的机器人建模遍历大大，光滑的障碍物揭示了身体合规性的稳定性优势
Robotic modeling of snake traversing large, smooth obstacles reveals stability benefits of body compliance
论文作者
论文摘要
蛇几乎可以穿越任何地形。尽管使用平面步态在平坦表面上的运动本质上是稳定的，但是当蛇从平面上变形以遍历复杂的地形时，保持稳定性成为挑战。在树木和沙漠沙丘上，蛇抓握的树枝或支撑抑郁的沙子以保持稳定。但是，它们如何稳定地克服太大且光滑以至于无法获得这样的锚点的障碍物尚不清楚。同样，蛇机器人面临挑战，要稳定遍历大大，光滑的障碍，以进行搜救和建筑检查。我们最近的研究发现，蛇将身体的侧向起伏和悬臂结合起来，从而稳定地穿越大步。在这里，我们开发了一种带有这种步态和蛇形各向异性摩擦的蛇机器人，并将其用作物理模型来了解稳定性原理。机器人迅速稳定地穿越了其身体长度的三分之一。但是，在较高的步骤上，由于更频繁的滚动和翻转，它更有可能失败，这在蛇中没有一个合规的身体。增加身体合规性可以通过统计上改善表面接触，而不会降低速度，从而减少了机器人滚动的不稳定性。除了促进对蛇运动的理解外，我们的机器人还达到了高遍历速度，超过了大多数以前的蛇机器人并接近蛇，同时保持较高的遍历概率。
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such anchor points is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability.
