Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot
Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot
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DOI：
10.1088/1748-3182/8/2/026003
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发表时间：
2013-06-01
影响因子：
3.4
通讯作者：
Rus, Daniela
中科院分区：
文献类型：
--
作者：
Onal, Cagdas D.;Rus, Daniela
软机器人技术提供了创造固有的安全和自适应系统的独特前景。这些系统使人造机器更接近生物系统的自然能力。实现自给自足的软移动机器人的一个重要要求是车载电源。在这篇论文中，我们提出了一种方法来创造一种受生物启发的软机器蛇，它可以利用压力来驱动功率，以类似于生物同行的方式波动，而不需要人类干预。基于这种方法，我们开发了一个自主的软蛇机器人，具有车载驱动、功率、计算和控制能力。该机器人由四个串联的双向流体弹性体致动器组成，沿着它的身体从头到尾产生行进的曲率波。各段之间的被动车轮会产生向前运动所必需的摩擦各向异性。制作软机器蛇需要14h，平均运动速度可以达到19 mm S(-1)。
Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s(-1).