Peristaltic locomotion without digital controllers: Exploiting multi-stability in origami to coordinate robotic motion
Peristaltic locomotion without digital controllers: Exploiting multi-stability in origami to coordinate robotic motion
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DOI：
10.1016/j.eml.2019.100552
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发表时间：
2019-10-01
影响因子：
4.7
通讯作者：
Li, Suyi
中科院分区：
文献类型：
--
作者：
Bhovad, Priyanka;Kaufmann, Joshua;Li, Suyi
这项研究研究了一种新的方法，可以在分段的折纸机器人中产生蠕动样的运动。具体而言，我们证明了在折纸骨骼中嵌入多稳定性的使用，以消除对多个执行器或数字控制器的需求，以协调蠕动爬行中复杂的机器人运动。这项研究中的爬行机器人由两个连接的双重双向折纸段组成，每个折纸都具有广义的kresling设计和可折叠的锚固机制。力学分析和实验测试表明，该双段模块的非线性弹性行为，尤其是由于非单调能量景观和力置换关系而引起的快速变形，可以创建确定性的变形序列或驱动周期。然后，该循环可用于在蠕动样的运动步态中生成不同的阶段。我们只能控制该机器人的总长度，而不是单独控制段变形，而是控制earth和其他爬行机器人。因此，这种方法可以大大减少运动所需的执行器总数，并简化控制要求。此外，Kresling折纸设计中的丰富度为我们提供了量身定制运动性能的实质性自由。这项研究的结果将有助于我们如何将多稳定性的机制来进行机器人驱动和控制。 （c）2019 Elsevier Ltd.保留所有权利。
This study examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in the origami skeleton to eliminate the need for multiple actuators or digital controllers to coordinate the complex robotic movements in peristaltic crawling. The crawling robot in this study consists of two serially connected bistable origami segments, each featuring a generalized Kresling design and a foldable anchoring mechanism. Mechanics analysis and experimental testing reveal that the nonlinear elastic behaviors of this dual-segment module, especially its rapid deformation due to the non-monotonic energy landscape and force-displacement relationship, can create a deterministic deformation sequence or actuation cycle. This cycle can then be used to generate the different phases in a peristaltic-like locomotion gait. Instead of individually controlling the segment deformation like in earthworm and other crawling robots, we only control the total length of this robot. Therefore, this approach can significantly reduce the total number of actuators needed for locomotion and simplify the control requirements. Moreover, the richness in Kresling origami design offers us substantial freedom to tailor the locomotion performance. The results of this study will contribute to a paradigm shift in how we can use the mechanics of multi-stability for robotic actuation and control. (C) 2019 Elsevier Ltd. All rights reserved.