机器人
推进
水下
仿生学
球(数学)
喷气推进
机器人运动
计算机科学
机械工程
航空航天工程
模拟
工程类
人工智能
机器人控制
移动机器人
几何学
数学
地质学
海洋学
作者
Zhiyuan Yang,Dongsheng Chen,David J. Levine,Cynthia Sung
出处
期刊:IEEE robotics and automation letters
日期:2021-07-20
卷期号:6 (4): 7145-7152
被引量:21
标识
DOI:10.1109/lra.2021.3097757
摘要
Underwater swimmers present unique opportunities for using bodily reconfiguration for self propulsion. Origami-inspired designs are low-cost, fast to fabricate, robust, and can be used to create compliant mechanisms useful in energy efficient underwater locomotion. In this paper, we demonstrate an origami-inspired robot that can change its body shape to ingest and expel water, creating a jet that propels it forward similarly to cephalopods. We use the magic ball origami pattern, which can transform between ellipsoidal (low volume) and spherical (high volume) shapes. A custom actuation mechanism contracts the robot to take in fluid, and the inherent mechanics of the magic ball returns the robot to its natural shape upon release. We describe the design and control of this robot and verify its locomotion in a water tank. The resulting robot is able to move forward at 6.7 cm/s (0.2 body lengths/s), with a cost of transport of 2.0.
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