对软生长机器人的接触和执行并行模拟.
Yitian Gao1, Lucas Chen1, Priyanka Bhovad2
1Department of Computer Science, Purdue University, West Lafayette, Indiana, USA.
Soft robotics
|March 5, 2026
概括
这项研究引入了软生长机器人或葡萄藤机器人的主动转向,使其能够在复杂的环境中进行导航. 优化的设计通过利用环境接触来最大限度地减少执行器,以提高功能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 控制系统 控制系统
背景情况:
- 软种植机器人或葡萄藤机器人在非结构化环境中表现出色.
- 以前的研究集中在被动变形,限制导航能力.
- 在葡萄树机器人中,主动转向对于复杂环境导航至关重要.
研究的目的:
- 为葡萄藤机器人生长,曲,执行和障碍接触开发一个统一的建模框架.
- 为了在复杂的环境中增强导航,实现主动转向.
- 通过环境接触,优化葡萄树机器人设计以最小化执行器使用.
主要方法:
- 扩展了光束动量模型,以纳入增长过程中对动力学的执行效应.
- 开发了一个快速并行模拟框架,集成增长,曲,执行和接触.
- 通过真实机器人实验验证模型和模拟器.
主要成果:
- 建立了一个统一的模型框架,用于葡萄藤机器人在生长,曲,执行和接触时的行为.
- 一个设计优化任务确定了葡萄树机器人配置,通过利用环境接触来最小化执行器.
- 优化的设计显示出对环境和制造不确定性的强度.
- 一个优化的葡萄机器人被制造出来,并成功地部署在一个充满障碍的环境中.
结论:
- 开发的框架使软生长机器人的主动方向和设计优化成为可能.
- 利用环境接触是一种可行的策略,可以减少葡萄藤机器人的执行器要求.
- 这项研究为复杂场景中更有能力,更高效的葡萄机器人铺平了道路.
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