外观
论文arXiv 2609.113611 个月前
GeoTrussRover：使用接触语义控制基元的形态计算
原文链接：GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives（arXiv 2609.11361 · 发布日期：2026-09-10）
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
GeoTrussRover用接触语义形态规划与控制，将一次台阶穿越提取为基元，并在高度可行性分析和电动原型上验证复用。
核心要点
- 可变几何桁架接入移动底盘后，需协调高维构件以越过固定机体难以通过的障碍。
- 系统结合电驱VGT、轮式底盘，提取四个接触语义基元描述21个构件协同。
- 物理约束投影将基元适配到相同接触拓扑的未知台阶，必要时仅重算不可行阶段。
- 0.10m到0.075m迁移较完全重算减少63.7%目标函数评估，原型跨越2.11个轮半径。
验证范围与局限：验证范围包括0.10至0.46m台阶的接触阶段可行性分析，以及电动原型跨越2.11个轮半径。
英文摘要 (Abstract)
Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load-bearing structure, but coupling it to a mobile base creates a high-dimensional coordination problem. GeoTrussRover combines an electrically actuated VGT, a wheeled base, and contact-semantic morphology planning and control. We solve one source traversal and extract four contact-semantic primitives that describe coordination among 21 members. Physics-constrained projection adapts them to unseen step heights with the same contact topology. When every phase remains feasible, adaptation does not recompute the complete motion. If one phase violates the new physical constraints, only that phase is recomputed. A full-space QP then tracks the adapted motion and corrects member and wheel errors. For transfer from 0.10m to 0.075m, the method reduces objective-function evaluations by 63.7% relative to full recomputation. Contact-phase feasibility analysis covers step heights from 0.10 to 0.46m, or 1.08 to 4.97 wheel radii, with the upper value near the theoretical feasible boundary. The electric prototype traverses 2.11 wheel radii. The resulting low-dimensional representation stores task coordination in a hyper-redundant, load-bearing morphology and reuses it during locomotion.
作者：Muyuan Ma, Yi Zhang, Yang Yang, Xuanyan Zheng, Hu, Ruiqi, Boxuan Ke, Zhenyu Chen, Yicong Lin, Yang, Xin Hao, Daliang Xiao
来源
本页事实对应的公开页面，以原文为准。