外观
论文arXiv 2610.0414426 天前
面向颗粒斜坡有效运动的地形依赖性周期内腿部时序
原文链接：Terrain-Dependent Intra-Cycle Leg Timing for Effective Locomotion on Granular Slopes（arXiv 2610.04144 · 发布日期：2026-10-02）
Terrain-Dependent Intra-Cycle Leg Timing for Effective Locomotion on Granular Slopes
针对足式机器人在颗粒斜坡上运动困难，基于阻力测量建立机器人-地形模型，并在可倾颗粒床六足机器人实验中验证。
核心要点
- 颗粒斜坡剪切强度降低且屈服各向异性，使足式机器人运动受限。
- 测量坡度相关法向与剪切阻力，并建立预测锚定时序、步长和速度的模型。
- 结果表明性能损失主要来自锚定延迟和后滑增加，而非过度下陷。
- 扩展模型构建失效相图，区分下陷与打滑失效并估计风险。
验证范围与局限：验证范围为可倾颗粒床上的六足机器人及颗粒斜坡条件。
英文摘要 (Abstract)
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed, we systematically measure locomotion speed together with slope-dependent normal and shear granular resistive forces. While normal penetration resistance remains nearly unchanged with inclination, shear resistance decreases substantially as slope angle increases. Guided by these measurements, we develop a simple robot-terrain interaction model that predicts anchoring timing, step length, and resulting robot speed, as functions of terrain strength and slope angle. The model reveals that slope-induced performance loss is primarily governed by delayed anchoring and increased backward slip rather than excessive sinkage. By extending the model to generalized terrain conditions, we construct failure phase diagrams that identify sinkage- and slippage-induced failure regimes, enabling quantitative risk estimation for locomotion on granular slopes. This physics-informed framework provides predictive insight into terrain-dependent failure mechanisms and offers guidance for safer and more robust robot operation on deformable inclines.
作者：Long Zhao, Xingjue Liao, Feifei Qian
来源
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