极端地形绳系机器人研究进展

行星表面有探索价值的区域多处于极端地形之中,目前应用于探索该类地形的多为绳系机器人。首先简要评述极端地形绳系机器人的发展现状,依据现有极端地形绳系机器人机构构型的不同,将其划分为4类,分别为腿式、轮式、履带式及复合式,并分析其优劣所在;其次分析绳系机器人关键技术,即系绳管理技术的发展现状。为了避免系绳缠绕,系绳从最初作为基本组件逐步发展为基于系绳的同步定位与建图(tethered simultaneous localization and mapping,TSLAM)问题,同时讨论了现有方法的局限性及未来可能的发展方向。

Research on Progress of Tethered Extreme Terrain Robots

Most of the valuable areas on the planet surface are in extreme terrain. At present, tethered robots are mostly used to explore this kind of terrain. According to the different configuration of existing tethered extreme terrain robots, tethered robot are classified into four categories, namely legged, wheeled, caterpillar and compound, and their merits and demerits are compared. Secondly, the development of key technology of tethered robots, i.e. tether management technology, is analyzed, in order to avoid tether entanglement, the tether is regarded as basic component from the beginning, and gradually develop into tethered simultaneous localization and mapping (TSLAM) problem. Finally, the current difficulties and challenges in the field are discussed, and the possible development directions are prospected.