Soft Mobile Robots: a Review of Soft Robotic Locomotion Modes
Soft Mobile Robots: a Review of Soft Robotic Locomotion Modes
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DOI：
10.1007/s43154-021-00070-5
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发表时间：
2021-12
期刊：
影响因子：
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通讯作者：
Yinan Sun;Aihaitijiang Abudula;Han Yang;Shou-Shan Chiang;Zhenyu Wan;Selim Ozel;R. Hall;E. Skorina
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文献类型：
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作者：
Yinan Sun;Aihaitijiang Abudula;Han Yang;Shou-Shan Chiang;Zhenyu Wan;Selim Ozel;R. Hall;E. Skorina
ReviewSoft机器人技术的目的是为移动机器人提供前所未有的能力，这是以前使用刚性机构无法实现的。本文旨在为从事软机器人运动研究的人员提供参考，提供该领域的分类和发展趋势，并对未来的发展提出建议。最近的发现软体机器人的运动很大程度上受生物启发。因此，我们根据运动模式提供了软体机器人运动的分类，包括爬行，飞行，游泳，腿运动，跳跃和替代运动技术。对于每种运动模式，我们研究了驱动类型，速度，运动步态，控制类型和动力自主等基本方面，以提供软体机器人运动研究的准确快照。在调查期间，我们主要关注2016年至2021年的机器人文献，同时包括前几年的一些开创性工作。在这篇文章中，我们提供了最近软机器人运动研究的全面概述，包括软机器人研究在几个方面的广泛概述，如运动应用、柔性基板和柔性机构，作为软机器人运动更大领域的一部分。讨论了近年来该领域的研究趋势，未来可能的研究重点，以及软运动研究在人机交互场合的应用。
Purpose of ReviewSoft robotics enables unprecedented capabilities for mobile robots that could not be previously achieved using rigid mechanisms. This article serves as a reference for researchers working in soft robotic locomotion, provides classifications and trends in this field, and looks ahead to make recommendations for future developments.Recent FindingsSoft robotic locomotion tends to be heavily bioinspired. Consequently, we provide a taxonomy of soft robotic locomotion according to locomotion mode, including crawling, flying, swimming, legged locomotion, jumping, and alternative locomotion techniques. For each locomotion mode, we investigate fundamental aspects including actuation type, speed, locomotion gaits, control type, and power autonomy to present an accurate snapshot of soft robotic locomotion research. During the investigation, we focus primarily on the robotics literature from 2016 to 2021, while including some of the seminal work from previous years.SummaryIn this article, we provide a comprehensive overview of recent soft robotic locomotion research including a broad overview of soft robotic research in several aspects, such as locomotion applications, flexible substrates, and compliant mechanisms, as part of the larger domain of soft robotic locomotion. We also discuss the research trend recent years in this area, possible future research focus, and application of soft locomotion research in human-robot interaction occasions.