LEVA: 脚式サスペンションを備えた高機動物流車両
LEVA: A high-mobility logistic vehicle with legged suspension
LEVAは、並列キネマティクスを用いた脚式サスペンションを統合し、不整地や階段を走行しながら最大85kgの荷物を自律的に積載・輸送できる高ペイロード・高機動ロボットである。
著者: Marco Arnold, Lukas Hildebrandt, Kaspar Janssen, Efe Ongan, Pascal Bürge, Ádám Gyula Gábriel, James Kennedy, Rishi Lolla, Quanisha Oppliger, Micha Schaaf, Joseph Church, Michael Fritsche, Victor Klemm, Turcan Tuna, Giorgio Valsecchi, Cedric Weibel, Michael Wüthrich, Marco Hutter
分類: cs.RO
原文アブストラクト
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture, construction, and search and rescue operations. LEVA uniquely integrates an advanced legged suspension system using parallel kinematics. It is capable of traversing stairs using a rl controller, has steerable wheels, and includes a specialized box pickup mechanism that enables autonomous payload loading as well as precise and reliable cargo transportation of up to 85 kg across uneven surfaces, steps and inclines while maintaining a cot of as low as 0.15. Through extensive experimental validation, LEVA demonstrates its off-road capabilities and reliability regarding payload loading and transport.
