自重构机器人探索地外熔岩管的应用前景

doi:10.3981/j.issn.2097-0781.2024.01.006

前瞻科技 ›› 2024, Vol. 3 ›› Issue (1): 74-85.DOI: 10.3981/j.issn.2097-0781.2024.01.006

自重构机器人探索地外熔岩管的应用前景

林天麟¹^,²^,^†(), 罗浩波¹^,², 涂宇啸¹^,², 梁冠琪¹^,², 赵达¹^,², 丁宁², 石欣³, 王科³

1.香港中文大学（深圳）理工学院，深圳 518172
2.深圳市人工智能与机器人研究院，深圳 518172
3.重庆大学教育部深空探测联合研究中心，重庆 400044

收稿日期:2023-09-12 修回日期:2023-12-29 出版日期:2024-03-20 发布日期:2024-03-27
通讯作者: †
作者简介:林天麟，香港中文大学（深圳）助理教授。机器人与智能制造国家地方联合工程实验室常务副主任，深圳市人工智能研究院智能机器人中心主任。主要从事多机器人系统、现场机器人和协作机器人等研究。出版学术专著2部，发表论文60余篇，授权发明专利70余件。电子信箱：tllam@cuhk.edu.cn。
基金资助:
国家自然科学基金(62073274);广东省基础与应用基础研究基金杰出青年项目(2023B1515020089)

Application Prospects of Self-reconfiguration Robots to Explore Extraterrestrial Lava Tubes

LAM Tin Lun¹^,²^,^†(), LUO Haobo¹^,², TU Yuxiao¹^,², LIANG Guanqi¹^,², ZHAO Da¹^,², DING Ning², SHI Xin³, WANG Ke³

1. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
2. Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518172, China
3. Center of Space Exploration, Ministry of Education, Chongqing University, Chongqing 400044, China

Received:2023-09-12 Revised:2023-12-29 Online:2024-03-20 Published:2024-03-27
Contact: †

摘要/Abstract

摘要：

月球和火星等行星表面上的熔岩管被视为人类科学考察基地和生态维持区域的优先选址。然而，熔岩管内部存在的坍塌物等障碍为熔岩管的无人化探索和改造带来了极大的挑战。模块化自重构机器人以其多功能性和可复用性等优势，成为在不可预测的非结构化环境中越障和操作物体的理想选择。文章简要介绍了模块化自重构机器人概况，重点讲述了该类机器人在熔岩管内移动与越障、采样与操作、辅助支撑这3个场景中的软硬件研究和应用前景。最后针对自重构机器人建设地外熔岩管基地所面临的挑战提出发展建议。

关键词: 地外熔岩管, 模块化自重构机器人, 越障和操作

Abstract:

Lava tubes on the surface of planets such as the Moon and Mars are given priority for human scientific expedition bases and ecological maintenance areas. However, obstacles such as collapses inside lava tubes have brought great challenges to the unmanned exploration and construction of lava tubes. Modular self-reconfiguration robots are ideal for surmounting obstacles and manipulating objects in unpredictable unstructured environments due to their versatility and reusability. This paper briefly introduces the hardware development of modular self-reconfiguration robots, focusing on the software and hardware research on modular self-reconfiguration robots in three application scenarios: moving and obstacle surmounting inside lava tubes, sampling and operation, and auxiliary support. Finally, the paper puts forward development suggestions for the challenges faced by self-reconfiguration robots in the construction of extraterrestrial lava tube bases.

Key words: extraterrestrial lava tube, modular self-reconfiguration robot, obstacle surmounting and operation

林天麟, 罗浩波, 涂宇啸, 梁冠琪, 赵达, 丁宁, 石欣, 王科. 自重构机器人探索地外熔岩管的应用前景[J]. 前瞻科技, 2024, 3(1): 74-85.

LAM Tin Lun, LUO Haobo, TU Yuxiao, LIANG Guanqi, ZHAO Da, DING Ning, SHI Xin, WANG Ke. Application Prospects of Self-reconfiguration Robots to Explore Extraterrestrial Lava Tubes[J]. Science and Technology Foresight, 2024, 3(1): 74-85.

图/表 9

图1 模块化自重构机器人在地外熔岩管中的应用场景示意图

Fig. 1 Application scenarios of modular self-reconfiguration robots in extraterrestrial lava tubes

图2 不同种类的模块化自重构机器人

Fig. 2 Different types of modular self-reconfiguration robots

图3 MSRR的流动越障性能展示

Fig. 3 Performance of modular self-reconfiguration robot to overcome obstacles through flow

图4 链式MSRR的四足、环形和蛇形等构型

Fig. 4 Chain-type modular self-reconfiguration robots in quadruped, ring, and snake configurations

图5 MSRR在熔岩管底部平滑区域拆散探索、中继通信

Fig. 5 Modular self-reconfiguration robot disassembled in the smooth area at the bottom of the lava tube to explore and forward communications

图6 MSRR适应性地操作物体的能力展示

Fig. 6 Demonstration of the ability of modular self-reconfiguration robots to adaptively manipulate objects

图7 MSRR集体驱动以推动大物体

Fig. 7 Modular self-reconfiguration robots are collectively driven to push large objects

图8 MSRR通过大规模自重构操作物体的研究前景

Fig. 8 Research prospects of MSRR manipulating objects through large-scale self-reconfiguraton

图9 MSRR模块化自重构机器人自组装为桌、架、桥等支撑物

Fig. 9 Modular self-reconfiguration robot self-assembles into supports such as tables, racks, and bridges

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自重构机器人探索地外熔岩管的应用前景

Application Prospects of Self-reconfiguration Robots to Explore Extraterrestrial Lava Tubes

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