Crawling and Jumping by a Deformable Robot
Crawling and Jumping by a Deformable Robot
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DOI：
10.1177/0278364906065386
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发表时间：
2006-05
期刊：
影响因子：
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通讯作者：
Y. Sugiyama;S. Hirai
中科院分区：
文献类型：
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作者：
Y. Sugiyama;S. Hirai
我们描述了软机器人的爬行和跳跃。在崎岖地形上的移动主要是由包括爬行器和腿机构在内的刚体系统实现的。本文提出了一种可供选择的方法，即变形方法。首先，我们描述了爬行和跳跃的原理，这是通过机器人身体的变形来实现的。其次，在物理模拟中，我们研究了该方法的可行性。接下来，我们通过实验展示了圆形软体机器人的原型可以爬行和跳跃。最后，我们描述了一个球形变形机器人的爬行和跳跃。
We describe crawling and jumping by a soft robot. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This paper presents an alternative method, one that employs deformation. First, we describe the principle of crawling and jumping as performed through deformation of a robot body. Second, in a physical simulation, we investigate the feasibility of the approach. Next, we show experimentally that a prototype of a circular soft robot can crawl and jump. Finally, we describe crawling and jumping performed by a spherical deformable robot.