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易出错的个体通过机械合的连贯运动
Federico Pratissoli1,2, Andreagiovanni Reina2,3, Yuri Kaszubowski Lopes4
1Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, Reggio Emilia, Italy.
Nature communications
|July 18, 2023
概括
机器人群中的可靠运动来自于简单的,容易出错的模块. 弹性合使这些软体聚合物能够实现协调的运动和变形,提高精度和性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 集体行为 集体行为
- 软机器人软机器人 软机器人软机器人
背景情况:
- 调查高度容易出错的个体系统中出现的可靠运动.
- 专注于使用振动电机进行随机运动的机器人模块.
研究的目的:
- 开发和验证分布式算法,用于软体机器人聚合物的可靠移动和变形.
- 探索弹性合在实现连贯运动中的作用.
主要方法:
- 弹性合器的正式分析.
- 使用多达49个自主,容易出错的机器人模块的软体聚合物的实验.
- 聚合物与弹性,刚性和没有合物的比较.
主要成果:
- 弹性合器使聚合物能够收缩和拉伸.
- 随着模块的数量增加,运动精度也会增加.
- 带有弹性合的聚合物优于带有刚性合物或没有合物的聚合物.
结论:
- 机械合对于容易出错的系统中的连贯运动至关重要.
- 弹性合方便软体机器人的可靠集体行为.
- 这些发现可能使低功率,可拉伸的机器人用于监控和操纵.
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