行星表面探测专用球形移动机器人综述

IF 2.3 4区计算机科学 Q2 Computer Science

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI:10.1177/17298806231162207

Minggang Li, Hanxu Sun, Long Ma, Panpan Gao, Dongshui Huo, Zhantong Wang, Ping Sun

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引用次数: 2

摘要

考虑到行星表面极端环境探测任务对机器人提出的科学回报率高、成本低、复杂性低、可靠性高的要求，本文全面回顾了用于地外表面探测的特殊球形机器人的历史，总结了不同行星表面的环境特征和任务难度。本文比较了不同类型地面球形机器人的优点，指出了特种球形机器人的优势，如全向性、气密性、零半径转弯、欠驱动、群集性和轻量化。此外，还分别评述了用于地外探测的特种球形机器人的研究进展，如风球、跳跃球、飞球、带腿球、摆锤驱动球、张拉整体结构等。最后，分析了这些机器人的性能特点，给出了它们的应用范围。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Special spherical mobile robot for planetary surface exploration: A review

Considering the requirements of high scientific return, low cost, less complexity, and more reliability for the robot proposed by the extreme environment exploration task on the planet surface, this article comprehensively reviews the history of the special spherical robot used for extraterrestrial surface exploration and summarizes the environmental characteristics and task difficulties of different planet surface. This article compares the advantages of different types of ground spherical robots and points out the superiority of special spherical robots, such as omni-direction, airtightness, zero-radius turning, under-actuated, swarming, and lightweight. In addition, the research progress of special spherical robots for extraterrestrial exploration, such as wind ball, jumping ball, fly ball, ball with leg, pendulum driven ball, tensegrity structure, are reviewed respectively. Finally, the performance characteristics of all these robots are analyzed, their application scope given.

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来源期刊

International Journal of Advanced Robotic Systems ROBOTICS-

CiteScore

6.50

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.