Study on slime robot (proposal of slime robot and design of slim slime robot)
Study on slime robot (proposal of slime robot and design of slim slime robot)
复制标题
史莱姆机器人研究（史莱姆机器人的提案和史莱姆史莱姆机器人的设计）
DOI：
10.1109/iros.2000.895298
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
H. Ohno;S. Hirose
作者将这组具有多个自由度的柔性变形机器人称为“黏液机器人”（SRs）。首先描述了具有多个气动执行器的机器人的结构。这种配置充分利用了黏液机器人的特性。其次，对气驱黏泥机器人的最小驱动单元“SR单元”的机构进行了实验研究。接下来介绍了由SR单元组成的“SR模块”。SR模块是三自由度气动模块，具有气动执行器，阀门，原始位移传感器和微处理器。最后，作为黏液机器人的应用之一，介绍了“纤细黏液机器人（SSR）”。SSR是一种由SR模块串联而成的细长体移动机器人。
The authors call the group of flexible deformation robots with multiple degrees of freedom "slime robots" (SRs). First the configuration of a robot with multiple pneumatic actuators is described. This configuration makes the most of the characteristics of a slime robot. Next the mechanism of an "SR unit", the minimum drive unit of a pneumatically driven slime robot, is examined experimentally. Next an "SR module" composed of SR units is described. An SR module is the three degrees of freedom pneumatic module with pneumatic actuators, valves, original displacement sensors and a microprocessor in its body. Lastly, as one of application of a slime robot, a "slim slime robot (SSR)" is described. The SSR is a mobile robot with long and thin body composed of serially connected SR modules.