スクリュー式移動・推進の多様な媒質における機動性解析
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
アルキメデススクリューによる移動が砂・液体・固体など様々な地形でどれだけ効率的に動けるかを実験的に調べ、設計指針を示した論文。
著者: Jason Lim, Calvin Joyce, Elizabeth Peiros, Mingwei Yeoh, Peter V. Gavrilov, Sara G. Wickenhiser, Dimitri A. Schreiber, Florian Richter, Michael C. Yip
分類: cs.RO
原文アブストラクト
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific domains. Screw-based locomotion is a promising approach for multi-domain mobility, leveraged in exploratory robotic designs, including amphibious vehicles and snake robotics. However, unlike other forms of locomotion, there is a limited exploration of the models, parameter effects, and efficiency for multi-terrain Archimedes screw locomotion. In this work, we present work towards this missing component in understanding screw-based locomotion: comprehensive experimental results and performance analysis across different media. We designed a mobile test bed for indoor and outdoor experimentation to collect this data. Beyond quantitatively showing the multi-domain mobility of screw-based locomotion, we envision future researchers and engineers using the presented results to design effective screw-based locomotion systems.
