一、背景情况 1992年,美国卡内基·梅隆大学设计并制造了一台名叫“丹蒂”的机器人。研制的目的是考察南极洲的埃里伯斯活火山口。因此丹蒂必须克服火山口上崎岖的地形和恶劣的环境,还必须能持续工作。设计者仿效登山探险者的模式,采用了腿式行走机构,并在机器人上设置了特殊的系绳,以减少或完全抵消爬坡时机器人所受的重力。就目前的科技水平来说,没有系绳而能爬悬崖的机器人是不存在的。 丹蒂的主要特点是能自主工作较长时间,有足够的感知和规划能力。为了减轻重量延长工作时间,机器人的电源和高级计算机系统设在远离机器人的地方。丹蒂机器人通过 First, the background In 1992, the United States Carnegie Mellon University designed and manufactured a robot named “Danti”. The purpose of the development is to investigate the active crater of Elbers in Antarctica. Therefore, Dante must overcome the rugged terrain and harsh environment of the crater and must continue to work. Designers follow the pattern of mountaineering explorers, using a legged walking mechanism and a special tether on the robot to reduce or completely counteract the robot’s gravitational pull when climbing. In the current state of science and technology, there are no robots that can climb a cliff without a tether. The main feature of Dandy is that it can work autonomously for a long time and have sufficient awareness and planning ability. In order to reduce the weight to extend the working hours, the robot’s power supply and advanced computer system are located far away from the robot. Dante robot passed