Lamini minnu ka gɛlɛn kosɛbɛ walima minnu ka gɛlɛn hadamadenw ma ka taama, laadala robo minnu bɛ ni wotoro ye walima minnu bɛ tugu ɲɔgɔn kɔ, olu ka teli ka gɛlɛyabaw sɔrɔ k’a sababu kɛ u ka dugukoloko ladamubaliya ye ani u ka basigibaliya. Robo hexapod, n’u ka biyomimɛtiki jɔcogo kɛrɛnkɛrɛnnen n’u sen wɔɔrɔ masinko lamagacogo jɛlen, olu bɛ taamacogo ni cidenyabaara kɛcogo danfaralen jira dugukolo gɛlɛnw na, yɔrɔ datugulenw na, ani hali sigidaw la minnu girinya tɛ, u bɛ kɛ fɛɛrɛba ye sigida kɛrɛnkɛrɛnnenw baara la.
Nafa minnu bɛ sɔrɔ biyoniki la hexapod jɔcogo la: Balance stable ani flexible
Robo hexapod dilancogo bɛ hakilina sɔrɔ joli-sira-funu-fɛnw fɛ minnu bɛ sɔrɔ fɛnɲɛnamaw la, i n’a fɔ wuluwuluw ni wuluwuluw. O danfɛn ninnu bɛ baara Kɛ ni sen caman-segin-ka-bɔnye ni girinya-yɔrɔ ladilanni fangama ye walasa ka lamaga-lamagali ɲuman sabati dugukolo lafiyalen na, faraw cɛtigɛlenw na, ani hali kogo jɔlenw na. Robo hexapod bɛ nin jogo koloma in ciyɛn ta : ni sen kelen walima fila datugulen don ni balilan ye, sen naani tɔw bɛ se k’u taamacogo ladilan waati yɛrɛ la algorisimuw fɛ, ka kɛ sababu ye ka dɛmɛnan sabatilen dɔ dilan min bɛ kɛ kɛrɛ saba ye (o bɛ tali kɛ fɛnɲɛnamaw ka "taama saba" la) walasa ka robo bali ka wuli. Kɔrɔbɔli kunnafoniw b’a jira ko kabakurunw kan minnu bɛ jɛngɛ degere 30 na walima pibilikiw la minnu cɛmancɛ ye santimɛtɛrɛ 15 dɔrɔn ye, robo hexapod tɛmɛsira hakɛ ka ca ni robo sen naani ta ye 40% ani ka tɛmɛ robo wotoro ta kan ni 70% ye.
Min nafa ka bon kosɛbɛ, o ye ko hexapod jɔcogo ka redundancy bɛ robo in di sigida la, a bɛ se ka ladamu cogo kɛrɛnkɛrɛnnen na. Misali la, nɔgɔ ɲinini ni kisiko la, ni sen dɔ tiɲɛna ni ɲɔgɔnkanu ye, o sistɛmu bɛ se ka doni tila-tila a yɛrɛma, ka o sen tun bɛ girinya min ta fɔlɔ, o 30% bila sen duuru tɔw la, ka taa ɲɛfɛ ni taama bolodacogo barikama ye (i n’a fɔ sen kelen -sen caman wulicogo ɲɔgɔn falen-falen ani sen caman -sen caman -senw wulicogo). O "tiɲɛni muɲuli" seko in sɔrɔli ka gɛlɛn robo fanba ma sisan.
Sɛgɛsɛgɛli waleyali sigida kɛrɛnkɛrɛnnenw na: K’a ta Polari maraw la ka se yɔrɔ juguw ma
Robo hexapod nafa jirala ko jugu suguya caman na. Artik dɔnniya taamaw senfɛ, Kanada ɲininikɛla dɔ ye robo "Polar Hexapod" dɔ labɛn min bɛ ni infrarouge thermal imager ye ani jikuruw sɛgɛsɛgɛli modulu ye, a ye tundra nɛnɛlenw ni jikuruw cɛtigɛ ka ɲɛ ni -40℃ye , ka subglacial lake microbial communitys ka misaliw lajɛ. Baara kɛli ni dronw ye, o tun bɛna kɛ sababu ye ka batiri si hakɛ dɔgɔya kosɛbɛ k’a sababu kɛ funteni dɔgɔyali ye, k’a sɔrɔ n’i y’i jigi da hadamadenw ka baarakɛlaw kan, o tun bɛna kɛ sababu ye ka nɛnɛ kɛ.
Tasuma-fanga ɲinini siratigɛ la, "Vulcan" hexapod robo min bɛ bɔ Tokiyɔ Iniwɛrisite la, Japon, n’a bɛ ni fɛn dɔ ye min ka funteni ka bon -a bɛ se ka dugukolo sanfɛla funteni muɲu degere 300 ) ani gazi sensɛriw labɛncogo, o donna tasuma-fanga-yɔrɔw la minnu bɛ baara la, o donna tasuma-fanga-yɔrɔw la minnu bɛ baara la, walasa ka kisɛkisɛ hakɛ kunnafoniw lajɛ. A sen wɔɔrɔ bɛ ni jogindaw ye minnu bɛ ji la, minnu bɛ balansi sabati tasumamugu ciyɛn ni nɔgɔw bɔli la. Wotoro minɛnw bɛ se ka minɛ kosɛbɛ o sigida suguw la k’a sababu kɛ nɔgɔw bɛ don wotoro kɔnɔ.
Layidu ta ka tɛmɛ o kan, o ye yɔrɔko baarakɛcogo ye. "Lunar Hexapod" prototype min bɛ ka kɔrɔbɔ sisan NASA fɛ, o bɛ ni taamacogo ɲuman ye min bɛ kɛ ka girinya dɔgɔya (Dugukolo girinya 1/6). Sen kelen-kelen bɛɛ bɛ ni jɔlan ye min bɛ se ka kɔsegin. Senna-tɛgɛrɛ dɔ senfɛ, robo bɛ fɔlɔ ka farikolo siri ni jɔlan ye ka sɔrɔ ka a kɛrɛfɛ sen kɔrɔta walasa ka lamaga, o bɛ sɛgɛn bali min bɛ sɔrɔ kalo bɔgɔ nɔgɔlen fɛ. Simulasi minnu kɛra san 2023, olu y’a jira ko robo in yele kɛ galasi biɲɛw jiginni na degere 25 la, minnu dilannen don ni kalo dugukolo simulatigɛlen ye siɲɛ saba ka tɛmɛ Apollo kalo wulilan kan, k’a sɔrɔ a bɛ laban in fanga tilayɔrɔ kelen-duuru dɔrɔn de ta.
Fɛɛrɛko gɛlɛyaw ani siniɲɛsigi yiriwaliw
Hali n’u ka jigiya bɛ layidu ta, robo hexapodw bɛ gɛlɛyaba saba sɔrɔ hali bi: A fɔlɔ, degun min bɛ waati lakika-waati latigɛ-la sigida gɛlɛnw na. Laadalata kɔlɔsili algorisimuw bɛ se ka mɛnni sɔrɔ ni u ye dugukolo nɔgɔlenw sɔrɔ waati kelen na, sanfɛla gɛlɛyaw, ani fanga tiɲɛniw (i n’a fɔ fiɲɛ ni ji). Filanan, fanga sɔrɔli gɛlɛyaw. Doni lamagacogo caman-, kɛrɛnkɛrɛnnenya la yɔrɔ jugumanw na walima dugujukɔrɔyɔrɔw la, kɛnɛma chargement tɛ minnu na, o bɛ ɲinini caman kɛ batiri seko la. Sabanan, bɛnbaliya min bɛ musaka ni minisiriso cɛ. Sisan, robo hexapod minnu ka bon-ban, olu musaka ka ca ni dɔrɔmɛ miliyɔn kelen ye, o bɛ dan sigi baarabaw la.
Akademi ye fɛɛrɛ kura caman jira walasa ka nin ko ninnu ɲɛnabɔ. Misali la, "adaptive gait engine" min faralen don ɲɔgɔn kan ni barika bonya kalanni ye, o bɛ kɛ sababu ye ka robow dɛmɛ u ka se ka lamagacogo ɲumanw dege u yɛrɛ ma, u kɛtɔ ka jɛɲɔgɔnya miliyɔn caman ladege dugukolo suguya caman kan. Biyomimɛtiki fɛn minnu bɛ se ka wuli (i n’a fɔ fibre carbone bionic tendons) tali bɛ sen girinya dɔgɔya ka sɔrɔ ka sɔgɔsɔgɔninjɛ kunbɛncogo ɲɛ. Ani fanga dilancogo modulari (i n’a fɔ batiri mikro-nukilila minnu bɛ ɲɔgɔn na walima tile filimu) bɛ batiri si janya.
A bɛ se ka ye ko ni ɲɛtaa kɛra fɛn dilanni dɔnniya la, hakililata la, ani kɔrɔsili miiriya la, robo hexapod bɛna wuli dɔɔnin dɔɔnin ka bɔ « baarakɛminɛn kɛrɛnkɛrɛnnenw » la ka kɛ « diɲɛ bɛɛ ka jɔyɔrɔw » ye walasa ka baara kɛ sigida kɛrɛnkɛrɛnnenw na. A kɛra ɲɛnamaya ɲinini ye kɔgɔji jugumanba kɔnɔ jisumayɔrɔw la, ka fiɲɛbɔyɔrɔw saniya nukiliya izini kasaara kɔfɛ, walima ka fɛnw ta Marisikalo basigiyɔrɔ jɔli waati la, nin "sɛgɛsɛgɛlikɛla sen wɔɔrɔ-nan" in bɛna kɛ jɛɲɔgɔn jɔnjɔn ye hadamadenw dɛmɛni na u ka dɔnniya dancɛw bonya.
