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用于连续爬行的皮埃佐-虫机器人.

Pengcheng Jiao1,2, Hao Zhang1, Luqin Hong1

  • 1Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China.

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|October 4, 2023
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概括
此摘要是机器生成的。

研究人员开发了自动爬行型皮埃佐虫机器人,模仿英寸的移动,使用内部的皮埃佐电动. 这些软机器人实现了自主运动,推进了仿生机器人技术.

关键词:
仿生软机器人 仿生软机器人连续爬行,没有操纵.内部激发信号的内部激发信号灵感来自于机械元材料的软执行器.形虫机器人 - 虫机器人

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科学领域:

  • 软机器人软机器人 软机器人软机器人
  • 生物模拟学是一种生物模拟学.
  • 机械工程 机械工程

背景情况:

  • 仿生软机器人往往依赖外部控制来进行运动.
  • 现有的软机器人缺乏自主,连续爬行能力.
  • 虫的运动提供了一个高效,低调的运动模型.

研究的目的:

  • 开发自动执行的软机器人,模仿虫的运动.
  • 为了实现无需外部操纵的自主爬行.
  • 为了研究影响软机器人爬行性能的因素.

主要方法:

  • 设计了灵活的皮埃佐-虫机器人,配备了一种新的软执行器.
  • 集成的压电用于内部激发和通缩触发.
  • 整合了真正的腿和前腿,以实现高效的机动转换.
  • 优化了执行器设计和参数 (腿部模式,时间,压力,环境).

主要成果:

  • 在51个曲周期内实现了连续的自主爬行.
  • 在推箱子和接近目标等任务中表现出成功的机动运动.
  • 记录的最大爬行速度为16.6mm/s (0.13体长/秒).
  • 爬行性能对腿部模式,时间,压力和地形敏感.

结论:

  • 成功创建了能够自动执行,像英寸一样的移动能力的压制虫机器人.
  • 这项工作将仿生软机器人扩展到自主,连续运动.
  • 这些发现为生物灵感软机器人设计和执行提供了新的见解.