Self-reconfiguring Soft Modular Cellbots
Self-reconfiguring Soft Modular Cellbots
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DOI：
10.1109/robosoft55895.2023.10122122
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发表时间：
2023-04
期刊：
影响因子：
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通讯作者：
Ridhi Bansal;H. Hauser;J. Rossiter
中科院分区：
文献类型：
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作者：
Ridhi Bansal;H. Hauser;J. Rossiter
在自然界中，细胞联合收割机组合成不同的结构以执行所需的任务，并且可以断裂和重新连接以形成更小和更大的生物体。从细胞的灵感，我们提出了一个自适应软机器人组成的简单的模块化元素（细胞）的线性排列，连接在一起的磁铁，能够通过利用摩擦不对称性与地形进行运动。使用一个简单的控制机制来改变他们的体积驱动，行波产生移动机器人。基于细胞的膨胀曲线，我们定义了4个几何状态，S1（收缩），S2（松弛状态），S3（中间状态）和S4（膨胀）。在运动步态中，每个细胞都可以充当脚或肌肉，这取决于膨胀的程度，并在整个步态中改变功能。模块化机器人还可以将自己分成多个部分，并根据需要重新组合，展示了在自然环境中自主探索的吸引力。这可以潜在地用于移除受损的细胞或改变机器人身体的形状。我们提出的模块化软机器人的设计，并展示其运动和重构能力。
In nature, cells combine into different structures to perform required tasks and can break and rejoin to make smaller and larger organisms. Taking inspiration from cells, we present an adaptive soft robot composed of simple modular elements (cells) in a linear arrangement, joined together by magnets, capable of performing locomotion by exploiting frictional asymmetries with the terrain. Using a simple control mechanism to change their volumetric actuation, a travelling wave was generated to move the robot. Based on the inflation profile of the cell, we defined 4 geometric states, S1 (contracted), S2 (relaxed state), S3 (intermediate state) and S4 (inflated). In locomotion gaits, each cell can act as a foot or a muscle, depending on degree of inflation, and change function throughout the gait. The modular robot can also separate itself into multiple parts and recombine as needed, demonstrating attractive capabilities for autonomous exploration in natural environments. This can potentially be used to remove damaged cells or change the shape of the robot body. We present the design of the modular soft robot and demonstrate its locomotion and reconfiguration capabilities.