论文标题
Ascento：两轮跳跃机器人
Ascento: A Two-Wheeled Jumping Robot
论文作者
论文摘要
移动地面机器人的应用需要高速和敏捷性，同时在复杂的室内环境中导航。这些提出了移动机器人技术的持续挑战。具有这些规格的系统将极大地用于室内检查任务。本文介绍了Ascento，这是一种紧凑的双方机器人，能够在平坦的地形上迅速移动，并通过跳跃来克服障碍物。介绍了系统的机械设计和整体体系结构，以及针对不同场景的各种控制器的开发。一系列针对最终原型系统的实验验证了这些行为在现实的情况下。
Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system with these specifications would be of great use for a wide range of indoor inspection tasks. This paper introduces Ascento, a compact wheeled bipedal robot that is able to move quickly on flat terrain, and to overcome obstacles by jumping. The mechanical design and overall architecture of the system is presented, as well as the development of various controllers for different scenarios. A series of experiments with the final prototype system validate these behaviors in realistic scenarios.
