Abaphenyi abavela ku-UC Berkeley's Biomimetic Millisystems Lab bebematasa bethuthukisa irobhothi labo leSalto kusukela laqala ngo-2016. Ngaleso sikhathi, robot ibikwazi ukweqa ezindaweni eziphakeme kakhulu, kepha ibinezinkinga zokuma futhi ibingaqedela kuphela ukweqa okubili kulandelana ngaphambi kokuphahlazeka.
Abaphenyi selokhu baxazulula izingqinamba zokuma nge I-Salto-1P (ISaltatorial Locomotion on Terrain Izithiyo), manje engagxumela phezulu, yinde, isheshe, futhi iphindaphindwe kakhulu kunenguqulo yangaphambilini.
ISalto yasekuqaleni yayincike emsileni ongena ngaphakathi ongaguquki ukulawula iphimbo layo ngenkathi igxuma, futhi isebenze kahle, kepha ngendiza eyodwa kuphela, okwenza kube nzima ukuyilawula. ISalto-1P ithuthukisiwe ukuze ikwazi ukuziqondisa maphakathi nomoya ngokusebenzisa umsila ofanayo ongangeneki, kepha ngosizo olungeziwe lwama-thrusters ukugcina ukuzinza.
ISalto iyakwazi ukugxumela ebangeni eliphakeme ngamamitha angu-4.1 ngokusebenzisa imoto encane, i-actuator enwebeka kanye no-gearbox omiswe ngomsila ohambisa umlenze owodwa werobhothi ngejubane lika-1.83 m / s. Uma isemoyeni, ingakwazi ukugcina isikhundla noma iphimbo, igoqeke futhi izamise kunoma iyiphi indlela isebenzisa ama-thrusters (Cheerson CX-10 quadcopter propeller blades).
Ukulawulwa kwerobhothi kwenziwa ngebhodi lokulawula irobhothi le-ImageProc 2.5, kanye nomshayeli wezimoto we-BLDC, ngenkathi umsila kanye ne-thrusters kuqhutshwa amabhuloho akwa-H. Ukugcina ukuzinza ngenkathi igxuma, i-ImageProc isebenzisa idatha ye-telemetry evela kumshayeli wemoto kanye ne-6-axis IMU sensor, iyivumela ukuthi ifinyelele futhi iqhubeke nokuphindaphinda kwe-jump.
Isoftware elawula umbukiso isuselwa ku-algorithm eyenziwe nguMarc Raibert yakhe I-3D One-Leg Hopper waklama ngo-1984, futhi yize isebenza cishe ngokufanayo kwi-Salto-1P, kwakudingeka iguqulwe ukuze ilingane nama-robot's lightweight specs (iHopper yayinesisindo esiphindwe ka-170 ngaphezu kukaSalto's 0.98 kg).
Ngokuya ngekusasa leSalto-1P, abacwaningi bahlela ukuqhubeka nentuthuko yabo ukufeza ukuxhumana okungcono kokulawula ngezingqinamba ezahlukene kanye nomhlaba kanye nokulawulwa kokufika namasu angavumela irobhothi ukuba ligxume lisuke ezindongeni kaningi.
