论文标题
Bruce-动态六边形机器人的设计和开发
Bruce -- Design and Development of a Dynamic Hexapod Robot
论文作者
论文摘要
本文介绍了Bruce，即CSIRO动态六足动物机器人，能够在困难的地形上具有自主的动态运动。该机器人是围绕Apptronik线性系列弹性执行器建造的，并通过使用大约80 \％3D打印的结构（关节和链接）零件在不到一年的时间内从设计到部署。到目前为止，该机器人以0.3m/s的速度表现出粗糙的地形遍历，岩石和瓦砾，平坦的地面速度高达0.5m/s。这是通过由RHEX启发的简单控制器来实现的，它具有中央模式发生器，单个腿部的任务框架阻抗控制，没有脚接触检测。该机器人旨在以适当的控制在平坦的地面上以高达1.0m/s的速度移动，并于2019年8月被部署到DARPA Subt挑战隧道巡回赛活动中。
This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series elastic actuators, and went from design to deployment in under a year by using approximately 80\% 3D printed structural (joints and link) parts. The robot has so far demonstrated rough terrain traversal over grass, rocks and rubble at 0.3m/s, and flat-ground speeds up to 0.5m/s. This was achieved with a simple controller, inspired by RHex, with a central pattern generator, task-frame impedance control for individual legs and no foot contact detection. The robot is designed to move at up to 1.0m/s on flat ground with appropriate control, and was deployed into the the DARPA SubT Challenge Tunnel circuit event in August 2019.
