多脚ロボットに触覚フィードバックを提供する頑健なアンテナ
A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot
多脚ロボット用の触覚アンテナを開発し、接触状態の推定に基づく制御で障害物環境での操縦とスタックからの回復を実現した。
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著者: Zhaochen J. Xu, Juntao He, Delfin Aydan, Malaika Taylor, Tianyu Wang, Jianfeng Lin, Wesley Dyer, Daniel I. Goldman
分類: cs.RO
原文アブストラクト
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However, robust navigation through confined spaces remains challenging when body-environment contact is extensive and terrain rheology varies rapidly. To address this challenge, we develop a pair of tactile antennae for multi-legged robots that enable real-time sensing of surrounding geometry, modeling the morphology and function of biological centipede antennae. Each antenna features gradient compliance, with a stiff base and soft tip, allowing repeated deformation and elastic recovery. Robophysical experiments reveal a relationship between continuous antenna curvature and contact force, leading to a simplified mapping from antenna deformation to inferred discrete collision states. We incorporate this mapping into a controller that selects among a set of locomotor maneuvers based on the inferred collision state. Experiments in obstacle-rich and confined environments demonstrate that tactile feedback enables reliable steering and allows the robot to recover from near-stuck conditions without requiring global environmental information or real-time vision. These results highlight how mechanically tuned tactile appendages can simplify sensing and enhance autonomy in elongate multi-legged robots operating in constrained spaces.
