rhex系列机器人

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1、RHex系列机器人制作小组：航天学院成员：Mecheligent公司,开发用于军事目的CapabilitiesofRHexItistheonlyrobotthatiscapableofperformingsuchawidevarietyofbehaviorsasasingle,autonomousrobot.Thisperformanceisduetothesignificantamountofinspirationfromthestudyofbiologicalsystems,leadingtoanumberofprinciplesunderlyingRHex'sdesign.

2、TheuseoflegsinsteadofwheelsortracksopensthewayforalargenumberofbehaviorsPassivecomplianceinthelegsovercomeslimitationsofunderactuationandhelpssimplifymechanicaldesign,yieldingrobustnessSprawledposture,inspiredfrominsects,resultsinpassivestabilizationoflateralmotionControlisopen-loopatthegaitl

3、evel,butclosedloopatthetasklevel.Stabilitycomesasaresultofpassivemechanics,nothigh-bandwidthactivecontrolRunningonreasonablyflat,naturalterrainatspeedsupto5bodylengthspersecond(justover2.25m/s)。ClimbingawiderangeofstairsClimbingslopesupto45degreesSuccessfullytraversebadlybrokenterrainwithlarg

4、erocksandobstaclesFlipitselfovertorecovernominalbodyorientationLeapingacrossditchesupto40cmwideTraverseobstaclesashighas20cm(abouttwiceRHex'slegclearance)Continuouslyrunfor45minutes,coveringupto3mileswithanefficientgaitWalkandrunupsidedownSupportremotecontrolfromupto150mdistanceBehaviorsthati

5、ncreasinglyreliedonfeedbackfromsensorssuchastheonboardgyro,cameraandstraingaugesonthelegs.PerformautonomousstabilizationofyawheadingwhilerunningusingfeedbackfromthegyroAutonomouslyfollowalineonthegroundwithoutanyoperatorcontrolBlobfollowLocomote ononlytwolegsusingactivependulumstabilizationBi

6、ologycanincreaseperformanceinmachinesInthelongrun,weaimtoarticulatebroadprincipleswithmathematicallypreciseformula-tionsofbiomechanicalobservedfactandthentranslatetheseintospecificdesignpracticesWepresentempiricaldataestablishingthatRHexexhibitsadynamical(“bouncing”)gait—itsmasscentermovesina

7、mannerwellapproximatedbytrajectoriesfromaSpringLoadedInvertedPendulum(SLIP)—characteristicofalargeanddiversegroupofrunninganimals,whenitscentralclock,bodymass,andlegstiffnessesareappropriatelytuned.Evennow,priortotheimpositionofmoreso-phistic