多式无肢爬行软机器人,具有基里加米皮肤
Jonathan Tirado1, Aida Parvaresh1, Burcu Seyidoğlu1
1SDU Soft Robotics, Biorobotics Section, The Maersk McKinney Moller Institute, University of Southern Denmark, Odense 5230, Denmark.
Cyborg and bionic systems (Washington, D.C.)
|June 10, 2025
概括
这项研究介绍了一种生物灵感软机器人,该机器人可以通过独特的爬行和转向步伐在复杂的地形上导航. 这个机器人,就是机器人.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物启发工程 生物启发工程
- 软材料 软材料 软材料
背景情况:
- 无肢生物利用身体变形和基质相互作用来进行运动.
- 这种自然机制为开发新型机器人系统提供了蓝图.
- 现有的机器人经常在复杂,非结构化的环境中扎.
研究的目的:
- 设计和演示一个能够在具有挑战性的地形上导航的软机器人.
- 为了研究灵感来自无肢生物生物的运动原理.
- 为了实现适应性控制,在非结构化环境中避免障碍.
主要方法:
- 开发了一个柔软的机器人,具有敌对的充气执行器和kirigami皮肤.
- 通过分阶段膨胀和通过不对称步态方向盘实现直线运动.
- 集成的近距离传感器和人机界面,用于实时自适应控制.
主要成果:
- 软机器人成功地展示了直线运动和有效的方向盘 (定位旋转和宽转).
- 机器人在一个充满障碍的环境中与粗的基板进行了导航.
- 适应性控制成功地防止了在导航过程中的碰撞.
结论:
- 生物灵感软机器人提供了一个有前途的解决方案,用于在封闭和非结构化的环境中移动.
- 开发的机器人的设计和控制策略适用于搜救和环境监测等应用.
- 这项研究推动了软机器人和生物仿真领域的发展.
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