外观
论文arXiv 2610.2381312 天前
MOSS：多模态折纸沼泽机器人系统
原文链接：MOSS: Multimodal Origami Swamp Robot System（arXiv 2610.23813 · 发布日期：2026-10-16）
MOSS: Multimodal Origami Swamp Robot System
MOSS用3D打印折纸轮和曲柄变形机制解决湿地水陆多地形适应问题，并在土壤、沙、泥和水中验证。
核心要点
- 湿地生态监测需跨陆地与水域，固定几何车轮难以适应接触条件变化。
- MOSS采用3D打印折纸轮，由紧凑曲柄在收缩与展开构型间切换。
- 不同地形下更省能构型不同，展开构型在湿泥、沙和水中最多降低29%运输成本。
- 展开轮还降低湿泥打滑，并在沙地同时减少打滑和轮毂下陷。
验证范围与局限：验证范围为土壤、沙、不同含水量泥、水及户外自然可变形地形和水域。
英文摘要 (Abstract)
Robotic systems for environmental monitoring and ecological surveying in wetlands and swamps must operate across diverse terrestrial and aquatic conditions. Conventional fixed-geometry wheels cannot adapt their contact geometry to these varying conditions. This work presents MOSS (Multimodal Origami Swamp Robot System), a compact amphibious robotic platform with 3D-printed origami wheels. The compact crank mechanism switches the wheel between contracted and expanded configurations, changing its width, body diameter, and fin orientation simultaneously. The contracted configuration is better suited to efficient rolling on firmer ground, whereas the expanded configuration provides greater contact and terrain engagement on softer surfaces. MOSS was evaluated on soil, sand, mud with varying water content, and water, in addition to in-motion morphing and terrestrial-aquatic transition tests. The more energy-efficient wheel configuration depended on terrain. The contracted configuration achieved a lower cost of transport on firmer soil and mud, whereas the expanded configuration performed better on wetter mud, sand, and water, reducing the cost of transport by up to 29%. Expanded wheels also reduced slip in wet mud and reduced both slip and hub sinkage in sand. MOSS successfully completed configuration changes in $1.95 \pm 0.11$ s and demonstrated continuous locomotion across soil-mud-water transitions. Outdoor trials further demonstrated operation across natural deformable terrain and water. These results show that adaptive wheel geometry provides terrain-dependent locomotion benefits and enables a single compact platform to traverse substantially different terrestrial and aquatic conditions.
作者：T. Lan, A. Babgei, L. Romanello, M. Kovac, S. F. Armanini
来源
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