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

作　　者：林天麟 罗浩波 涂宇啸 梁冠琪 赵达 丁宁 石欣[3] 王科[3] LAM Tin Lun;LUO Haobo;TU Yuxiao;LIANG Guanqi;ZHAO Da;DING Ning;SHI Xin;WANG Ke(School of Science and Engineering,The Chinese University of Hong Kong,Shenzhen 518172,China;Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen 518172,China;Center of Space Exploration,Ministry of Education,Chongqing University,Chongqing 400044,China)

机构地区：[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

出　　处：《前瞻科技》2024年第1期74-85,共12页Science and Technology Foresight

基　　金：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)。

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。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 selfreconfiguration 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.

关 键 词：地外熔岩管 模块化自重构机器人 越障和操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V419[自动化与计算机技术—控制科学与工程]