爬行
机器人
执行机构
机器人运动
有效载荷(计算)
模拟
控制理论(社会学)
计算机科学
攀登
占空比
工程类
移动机器人
控制工程
机器人控制
人工智能
结构工程
电气工程
解剖
医学
网络数据包
电压
计算机网络
控制(管理)
作者
Lei Qin,Xinquan Liang,Hui Huang,Chee‐Kong Chui,Chen‐Hua Yeow,Jian Zhu
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2019-03-18
卷期号:6 (4): 455-467
被引量:108
标识
DOI:10.1089/soro.2018.0124
摘要
This article presents a versatile soft crawling robot capable of rapid and effective locomotion. The robot mainly consists of two vacuum-actuated spring actuators and two electrostatic actuators. By programming the actuation sequences of different actuators, the robot is able to achieve two basic modes of locomotion: linear motion and turning. Subsequently, we have developed analytical models to interpret the static actuation performance of the robot body, including linear and bending motions. Moreover, an empirical dynamic model is also developed to optimize the locomotion speed in terms of frequency and duty cycle of the actuation signal. Furthermore, with the help of the strong electroadhesion force and fast response of the deformable body, the soft robot achieves a turning speed of 15.09°/s, which is one of the fastest among existing soft crawling robots to the best of our knowledge. In addition to the rapid and effective locomotion, the soft crawling robot can also achieve multiple impressive functions, including obstacle navigation in confined spaces, climbing a vertical wall with a speed of 6.67 mm/s (0.049 body length/s), carrying a payload of 69 times its self-weight on a horizontal surface, crossing over a 2 cm (0.15 body length) gap, and kicking a ball.
科研通智能强力驱动
Strongly Powered by AbleSci AI