# 通过内部质量作动实现全向两栖运动

> 原文链接：https://robotics.hellobike.com/papers/2026-09-23-2609-27358
> 频道：papers | 更新日期：2026-09-23 | 标签：arxiv, cs.RO
> 核心摘要：提出MARBLE，通过三轴内部滑块重分配质量与姿态感知控制，在陆地、水面和陆水过渡中验证全向两栖运动。

# 通过内部质量作动实现全向两栖运动

::: v-pre
> 原文链接：[Omnidirectional Amphibious Locomotion via Internal Mass Actuation](https://arxiv.org/abs/2609.27358)（arXiv 2609.27358 · 发布日期：2026-09-23）

**Omnidirectional Amphibious Locomotion via Internal Mass Actuation**

提出MARBLE，通过三轴内部滑块重分配质量与姿态感知控制，在陆地、水面和陆水过渡中验证全向两栖运动。

## 核心要点

- 野外机器人需跨越多样地形和障碍，并耐受水、碎屑、植被及物理接触。
- MARBLE以刚性球壳封闭机构，三组正交线性滑块移动内部质量产生机体旋转。
- 姿态感知控制器将平面速度指令映射为滑块位置，同一壳体实现陆地滚动和水面推进。
- 实验覆盖全向运动表征、异质陆地、水面运动、陆水过渡和障碍交互；软硬件设计将开源。

**验证范围与局限**：验证范围为MARBLE在陆地、水面、陆水过渡及障碍交互中的实验。

## 英文摘要 (Abstract)

Field robots must traverse varied terrain and obstacles while remaining robust to water, debris, vegetation, and physical contact. We present MARBLE, a fully enclosed omnidirectional amphibious rolling robot driven entirely by internal mass redistribution. Three mutually orthogonal linear sliders shift internal masses to generate body rotation, while an orientation-aware controller maps planar velocity commands into slider positions. A rigid spherical shell encloses all active mechanisms and simultaneously serves as the terrestrial contact surface, buoyant enclosure, and mounting structure for passive fins that enable water-surface propulsion. Rotation of the same shell architecture hence produces rolling on land and surface propulsion in water without mechanical reconfiguration or separate locomotion actuators. The spherical morphology further allows the robot to accommodate changes in body orientation and contact location during direct interactions with terrain and obstacles. We evaluate MARBLE through omnidirectional locomotion characterization, traversal across heterogeneous terrestrial environments, aquatic surface locomotion, land-water transitions, and deliberate obstacle interactions. These experiments demonstrate how a single enclosed mechanical architecture can combine omnidirectional mobility, cross-medium locomotion, and tolerance to environmental contact. MARBLE provides a compact design for field mobility across heterogeneous terrain, obstacles, and land-water transitions. We will open-source all software and hardware design. Our website is https://generalroboticslab.com/MARBLE

作者：Niko Weaver, Boxi Xia, Li-Yu Lo, Yuhao Huang, Boyuan Chen
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## 原始参考来源 (Sources)

- [arXiv 2609.27358：Omnidirectional Amphibious Locomotion via Internal Mass Actuation](https://arxiv.org/abs/2609.27358)