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,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 n
2、umber 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 inse
3、cts, 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
4、 (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
5、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. Per
6、form 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
7、 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 establishing that RHex exhibits a dynamical (“bouncing”) gaitits mass center moves in a manner well approximated
8、by trajectories from a Spring Loaded Inverted Pendulum (SLIP)characteristic of a large and diverse group of running animals, when its central clock, body mass, and leg stiffnesses are appropriately tuned.,Even now, prior to the imposition of more so-phisticated hierarchical controllers, RHexs intrinsic characteristics simple, rugged, light, autonomous, down-sizeable, reliable quasi-static operation, demonstrated dynamical capability (e.g., great jumping potential in reduced gravity environments) all make Rhex an ideal candidate for a planetary explorer.,
