Locomotion of inchworm-inspired robot made of smart soft composite (SSC)
Locomotion of inchworm-inspired robot made of smart soft composite (SSC)
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DOI：
10.1088/1748-3182/9/4/046006
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发表时间：
2014-12-01
影响因子：
3.4
通讯作者：
Ahn, Sung-Hoon
中科院分区：
文献类型：
--
作者：
Wang, Wei;Lee, Jang-Yeob;Ahn, Sung-Hoon
一种由智能软复合材料制成的软体机器人，具有受尺蠖启发的运动能力，能够进行双向线性和旋转运动，现已被提出、开发和测试。根据尺蠖的功能不同，该机器人被分为三个功能部分：身体、后足、前足。将形状记忆合金线纵向嵌入软聚合物中，以模仿控制尺蠖运动过程中腹部收缩的纵向肌纤维。机器人的每只脚都有三个不同摩擦系数的节段来实现锚定和滑动运动。然后，利用基于循环步态的身体和脚之间的驱动模式，机器人实现了仿生尺蠖步态。进行实验来评估机器人的直线运动和转弯运动的运动性能。结果表明，该机器人的步幅接近其体长的三分之一，最大线速度为3.6 mm s(-1)，直线运动效率为96.4%，每步最大转弯能力为4.3度，转弯运动效率为39.7%。
A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot's locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot's stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s(-1), a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%.