Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific domains. Screw-based locomotion is a promising approach for multi-domain mobility, leveraged in exploratory robotic designs, including amphibious vehicles and snake robotics. However, unlike other forms of locomotion, there is a limited exploration of the models, parameter effects, and efficiency for multi-terrain Archimedes screw locomotion. In this work, we present work towards this missing component in understanding screw-based locomotion: comprehensive experimental results and performance analysis across different media. We designed a mobile test bed for indoor and outdoor experimentation to collect this data. Beyond quantitatively showing the multi-domain mobility of screw-based locomotion, we envision future researchers and engineers using the presented results to design effective screw-based locomotion systems.
翻译:机器人“ 瞬间” 相遇, 并且必须穿行从坚固的地面到沙子等颗粒物质到满液体等不同地形。 存在许多方法, 包括轮式和脚式机器人, 每一个在特定领域都很出色 。 基于螺丝的移动是多球体移动的很有希望的方法, 在探索性机器人设计中, 包括两栖车辆和蛇型机器人中, 得到杠杆作用。 但是, 不同于其他形式的移动, 对多梯体Archimedes 螺旋桨移动的模型、 参数效果和效率的探索有限。 在这项工作中, 我们介绍为这个缺失的部件而开展的工作, 以理解基于螺旋形的移动移动动能: 综合实验结果和不同媒体的性能分析。 我们设计了一个用于室内和室外实验的移动试验床来收集这些数据。 除了量化地展示基于螺丝的移动动能的多球体流动外外, 我们设想未来的研究人员和工程师们使用所提出的结果来设计有效的基于螺旋的移动系统。