SCALER：タフで多用途な四足自由登攀ロボット
SCALER: A Tough Versatile Quadruped Free-Climber Robot
ボルダリング壁・オーバーハング・天井を自由登攀し、地上も走行できる高自由度四足ロボットSCALERを開発。新しいSKATE歩容と適応型グリッパにより、ペイロードを載せた実用的な登攀と地上移動を両立した。
著者: Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis Hong
分類: cs.RO
原文アブストラクト
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.
