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一个以乌为灵感的四足气动软机器人,通过改变形状来适应环境
Wei Zhong1, Yuxin Wu1, Luwei Li1
1The School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, People's Republic of China.
Bioinspiration & biomimetics
|March 3, 2025
概括
这项研究介绍了一种以乌为灵感的气动软机器人,具有可变形的腿,可以克服25毫米的障碍物. 这种可适应的机器人展示了有效的多地形爬行和各种应用的水规划.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 软机器人软机器人 软机器人软机器人
- 生物设计是生物设计.
背景情况:
- 气动软机器人在多地形适应和跨越障碍物方面面临着挑战.
- 设计具有生物灵感的机器人,如腿,对于增强移动性至关重要.
研究的目的:
- 设计和开发一种以乌为灵感的四足气动软机器人,能够克服障碍物.
- 研究可变形生物腿系统的步态控制和越过障碍的能力.
主要方法:
- 使用有限元软件来优化软执行器壁厚度.
- 进行了实验测试,以验证在不同压力下执行器曲能力 (上腿0-40kPa,下腿0-60kPa).
- 通过控制空气流和调整步态重叠比率来实现四种步态模型,以增强障碍物穿越.
主要成果:
- 软机器人成功克服了高达25毫米的障碍物.
- 实现了有效的步态控制,用于直行 (最大速度为0.41 BL s-1) 和转向 (45° s-1).
- 在不同的地形上表现出爬行能力,包括面料,沙子,平地和斜坡,以及水资源规划.
结论:
- 开发的以乌为灵感的气动软机器人表现出卓越的跨越障碍能力和多地形适应能力.
- 机器人的多功能机动使其适用于搜救,勘探和检查等应用.
- 该设计展示了现实世界部署的潜力,因为它在复杂的环境中具有强大的性能.
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