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

• 综述与述评 • 上一篇    下一篇

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. 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. 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:

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