灵感来自弹尾的兼容链使昆虫规模的机器人能够适应地形的起飞
bioRxiv : the preprint server for biology
|February 12, 2026
概括
春尾鸟使用灵活的furca (类似尾巴的附属物) 进行快速的,适应地形的跳跃. 这种生物机制激发了昆虫规模的机器人,具有符合标准的链,用于稳定,无传感器的可控发射.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 进化生物学 进化生物学
背景情况:
- 春尾鸟 (Collembola) 使用它们的皮表现出了显着的毫秒级逃生跳跃.
- 福尔卡长度在15个家族中以双式方式变化,表明不同的跳跃策略.
- 之前的研究还没有完全阐明跳和furca形态背后的生物力学原理.
研究的目的:
- 为了研究弹尾逃脱跳的生物力学.
- 为了确定furca形态和联合合规在跳跃表现中的作用.
- 将生物原理转化为设计一种新的昆虫规模跳跃机器人.
主要方法:
- 高速视频和对焦成像的弹尾跳跃.
- 分析跨分类学家族的furca长度变化.
- 开发和测试一个具有弹性机器人叉链的仿生跳跃机器人.
主要成果:
- 长叉式弹尾的符合性,富含树脂素的关节延长了起飞的推出时间,抑制了俯冲和偏向向前的起飞.
- 硬的关节导致背向发射与快速的机身旋转.
- 与刚性设计相比,弹性机器人链在平坦地面上显著降低了车身旋转 (~90%).
- 机器人通过各种地形 (石,树叶等) 保持起飞速度. ) 的情况.
结论:
- 福尔卡联合合规对于控制的,向前偏差的弹尾跳跃至关重要.
- 符合标准的链的仿生设计使昆虫规模的机器人能够被动地适应地形.
- 这项研究为开发由昆虫生物力学启发的强大,无传感器的机器人提供了途径.
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