Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments
Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments
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DOI：
10.1109/icra40945.2020.9196790
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
Yinan Sun;Yuqi Jiang;Han Yang;Louis-Claude Walter;J. Santoso;E. Skorina;C. Onal
中科院分区：
文献类型：
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作者：
Yinan Sun;Yuqi Jiang;Han Yang;Louis-Claude Walter;J. Santoso;E. Skorina;C. Onal
理论上，软机器人非常适合救援和探索应用，其灵活性允许穿越高度混乱的环境。然而，大多数现有的移动软机器人速度不够快，功能也不够强大，无法有效穿越三维环境。在本文中，我们介绍了一种具有连续变形细长身体结构的新型移动机器人SalamanderBot，它结合了软体机器人的灵活性和可操作性，以及传统移动机器人的速度和力量。它由一个电缆驱动的风箱式折纸模块组成，该模块基于安装在动力轮组之间的吉村折痕图案。折纸结构允许身体根据需要变形以适应复杂的环境和地形，而轮子允许机器人达到高达 303.1 毫米/秒（2.05 身体长度/秒）的速度。 Salamanderbot 可以爬上 60 度的斜坡，并以 79.9 毫米（0.54 体长）的最小转弯半径进行急转弯。
Soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of highly cluttered environments. However, most existing mobile soft robots are not fast or powerful enough to effectively traverse three dimensional environments. In this paper, we introduce a new mobile robot with a continuously deformable slender body structure, the SalamanderBot, which combines the flexibility and maneuverability of soft robots, with the speed and power of traditional mobile robots. It consists of a cable-driven bellows-like origami module based on the Yoshimura crease pattern mounted between sets of powered wheels. The origami structure allows the body to deform as necessary to adapt to complex environments and terrains, while the wheels allow the robot to reach speeds of up to 303.1 mm/s (2.05 body-length/s). Salamanderbot can climb up to 60-degree slopes and perform sharp turns with a minimum turning radius of 79.9 mm (0.54 body-length).