RHex系列机器人RHex系列机器人.ppt

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 Capabilities of RHex It is the only robot that is capable of performing such a wide variety of behaviors as a single, autonomous robot. This performance is due to the significant amount of inspiration from the study of biological systems, leading to a number of principles underlying RHexs design. The use of legs instead of wheels or tracks opens the way for a large number of behaviors Passive compliance in the legs overcomes limitations of underactuation and helps simplify mechanical design, yielding robustness Sprawled posture, inspired from insects, results in passive stabilization of lateral motion Control is open-loop at the gait level, but closed loop at the task level. Stability comes as a result of passive mechanics, not high-bandwidth active control Running on reasonably flat, natural terrain at speeds up to 5 body lengths per second (just over2.25m/s)。 Climbing a wide range of stairs Climbing slopes up to 45 degrees Successfully traverse badly broken terrain with large rocks and obstacles Flip itself over to recover nominal body orientation Leaping across ditches up to 40cm wide Traverse obstacles as high as 20cm (about twice RHexs leg clearance) Continuously run for 45 minutes, covering up to 3 miles with an efficient gait Walk and run upside down Support remote control from up to 150m distance Behaviors that increasingly relied on feedback from sensors such as the onboard gyro, camera and strain gauges on the legs. Perform autonomous stabilization of yaw heading while running using feedback from the gyro Autonomously follow a line on the ground without any operator control Blob follow Locomote on only two legs using active pendulum stabilization Biology can increase performance in machines In the long run, we aim to articulate broad principles with mathematically precise formula-tions of biomechanical observed fact and then translate these into specific design practices We present empirical data est