Architectures of soft robotic locomotion enabled by simple mechanical principles.
Architectures of soft robotic locomotion enabled by simple mechanical principles.
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DOI：
10.1039/c7sm00636e
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发表时间：
2016-11
期刊：
影响因子：
3.4
通讯作者：
Liangliang Zhu;Yunteng Cao;Yilun Liu;Zhe Yang;Xi Chen
中科院分区：
文献类型：
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作者：
Liangliang Zhu;Yunteng Cao;Yilun Liu;Zhe Yang;Xi Chen
在自然界中，各种无肢运动模式蓬勃发展，从小型或基本的生命形式（大肠杆菌，阿米巴等）对于大型或智能生物（例如，蛞蝓、海星、蚯蚓、章鱼、鱼和蛇）。在过去的几十年里，许多基于运动的仿生软机器人已经被开发出来。在这项工作中，基于两种代表性运动模式的运动学和动力学（即，蠕虫般的爬行和蛇一样的滑行），我们提出了一个广泛的软移动的机器人通过简单的机械原理的创新设计。受现有生物系统的启发并超越现有生物系统，这些设计包括通过连续梁的简单驱动实现的1-D（维度），2-D和3-D机器人运动模式。本文报道了20多种运动模式，包括爬行、上升、奔跑、爬行、蠕动、滑行、游泳、跳跃、转弯、翻转、螺旋滚动、旋转等，其中一些能够达到高速度、高效率和克服障碍。所有这些运动策略和功能都可以集成到一个简单的梁模型中。所提出的模型简单、鲁棒，适用于恶劣和复杂的环境。这些针对不同机器人运动模式的优雅设计有望成为未来软机器人部署的基础，并激发一系列先进设计的灵感。
In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.