论文标题
鳞片机：一个坚韧的四足动物自由攀爬机器人
SCALER: A Tough Versatile Quadruped Free-Climber Robot
论文作者
论文摘要
本文介绍了Scalucs，这是一种四足动物的机器人，该机器人展示了在地面上攀登，悬垂，天花板和小跑在地面上。 Scaleer是最早的自由度四束机器人之一，可以在地球的重力下自由攀爬，也是地面上最有效的四倍体机器人之一。在其他最先进的登山者专门从事攀岩的地方，Scaleer承诺使用有效载荷\ Textit {and}地面机车实用的自由攀爬，这实现了真正的多功能移动性。新的攀登步态滑冰步态通过利用缩放器的身体连锁机制来增加有效载荷。 Scaleer在地面上达到了最大归一化的运动速度，即$ 1.87 $ /s，$ 0.56 $ m /s，$ 1.0 $ /min，或$ 0.35 $ m /min /min的岩石墙攀爬。有效载荷能力达到地面上缩放器重量的233美元，垂直墙上的$ 35 $％。我们的山羊抓手是一种机械适应的两指抓手，成功地抓住了凸凸和非凸的对象，并支持缩放器。
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER promises practical free-climbing with payload \textit{and} ground locomotion, which realizes true versatile mobility. A new climbing gait, SKATE gait, increases the payload by utilizing the SCALER body linkage mechanism. SCALER achieves a maximum normalized locomotion speed of $1.87$ /s, or $0.56$ m/s on the ground and $1.0$ /min, or $0.35$ m/min in bouldering wall climbing. Payload capacity reaches $233$ % of the SCALER weight on the ground and $35$ % on the vertical wall. Our GOAT gripper, a mechanically adaptable underactuated two-finger gripper, successfully grasps convex and non-convex objects and supports SCALER.
