原木爬虫:探索一个单一的原木顶点,用于复杂的路径导航
Davood Farhadi1,2, Laura Pernigoni1,3, David Melancon4
1J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA.
Advanced materials (Deerfield Beach, Fla.)
|June 10, 2025
概括
原始工程使简单的,单输入爬虫从基本的折叠结构. 修改顶点几何学允许控制直线或转向运动,用于复杂的路径导航.
科学领域:
- 工程 工程师 工程师 工程师
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
背景情况:
- 原创,折纸的艺术,提供了超越美学的潜力.
- 传统的原木结构可以适应先进的工程应用,如机器人技术和形状变形.
研究的目的:
- 为了设计一个基本的原木结构,一个四度顶点,成为一个功能爬虫.
- 为了证明这个爬虫可以通过单个输入来导航复杂的路径.
主要方法:
- 使用了实验研究和计算建模.
- 四度顶点的几何结构被系统地修改.
- 折叠角度执行范围被调整为控制运动.
主要成果:
- 一个四度顶点成功地被设计成一个单输入爬虫.
- 爬行动物展示了通过改变顶点几何学来直线移动或转动的能力.
- 折叠的非线性使得可以在爬行模式之间切换.
结论:
- 基本的原木结构可以被设计成多功能机器人爬行器.
- 控制的折叠角度的启动允许精确的轨迹跟随.
- 这项研究为能够以最少的动作进行复杂导航的简单机器开辟了道路.
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