MONOLITh: a soft non-pneumatic foam robot with a functional mesh skin for use in delicate environments
MONOLITh: a soft non-pneumatic foam robot with a functional mesh skin for use in delicate environments
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DOI：
10.1080/01691864.2022.2029764
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发表时间：
2022-02
影响因子：
2
通讯作者：
Anthony E. Scibelli;C. Donatelli;Ben Tidswell;Micah R. Payton;E. Tytell;B. Trimmer
中科院分区：
文献类型：
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作者：
Anthony E. Scibelli;C. Donatelli;Ben Tidswell;Micah R. Payton;E. Tytell;B. Trimmer
MONOLITh 是一款仿生、不受束缚的爬行软机器人。主体由轻质网状泡沫制成，可提供被动形状恢复并支撑内部嵌入的组件（电机、电池、无线控制器）。直流电机拉动附着在外部织物上的腱来分配力，新颖的差动摩擦元件可实现向前运动。该机器人能够以 0.1 体长/秒的最大速度行驶，举起 100% 的体重，同时保留 95% 体积的软材料。我们期望用于制造这种低成本且可扩展的机器人的设计原理和材料将导致有用且商业上可行的陆地或外星飞行器的开发。图解摘要
MONOLITh is a bioinspired, untethered crawling soft robot. The body is made from a lightweight reticulated foam that provides passive shape restoration and supports the internally embedded components (motors, battery, wireless controller). DC motors pull tendons attached to an external fabric that distributes forces, and novel differential friction elements enable forward locomotion. This robot is capable of traveling at a maximum speed of 0.1 body lengths/sec, lifting 100% of its body weight, while remaining 95% soft materials by volume. We expect that the design principles and materials used to make this low cost and scalable robot will lead to the development of useful, and commercially viable, terrestrial or extraterrestrial vehicles. GRAPHICAL ABSTRACT