粒状斜面における効果的な移動のための地形依存の脚内タイミング
Terrain-Dependent Intra-Cycle Leg Timing for Effective Locomotion on Granular Slopes
六脚ロボットと傾斜可能な粒状床を用いて、斜面での移動速度と抵抗力を測定し、地形と斜面角度に応じたアンカリングタイミングや歩幅を予測するモデルを構築した。これにより、粒状斜面上での沈み込みや滑りによる失敗領域を特定し、リスク評価を可能にした。
著者: Long Zhao, Xingjue Liao, Feifei Qian
分類: cs.RO
原文アブストラクト
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed, we systematically measure locomotion speed together with slope-dependent normal and shear granular resistive forces. While normal penetration resistance remains nearly unchanged with inclination, shear resistance decreases substantially as slope angle increases. Guided by these measurements, we develop a simple robot-terrain interaction model that predicts anchoring timing, step length, and resulting robot speed, as functions of terrain strength and slope angle. The model reveals that slope-induced performance loss is primarily governed by delayed anchoring and increased backward slip rather than excessive sinkage. By extending the model to generalized terrain conditions, we construct failure phase diagrams that identify sinkage- and slippage-induced failure regimes, enabling quantitative risk estimation for locomotion on granular slopes. This physics-informed framework provides predictive insight into terrain-dependent failure mechanisms and offers guidance for safer and more robust robot operation on deformable inclines.