Soft Robot Actuation Strategies for Locomotion in Granular Substrates
Soft Robot Actuation Strategies for Locomotion in Granular Substrates
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DOI：
10.1109/lra.2019.2911844
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发表时间：
2019-07-01
影响因子：
5.2
通讯作者：
Tolley, Michael T.
中科院分区：
文献类型：
--
作者：
Ortiz, Daniel;Gravish, Nick;Tolley, Michael T.
软体生物，如环节动物，可以利用身体的顺应性，利用它们的静水骨骼和肌肉在颗粒状基质中打洞。在这封信中，我们调查的软挖掘机器人的设计灵感来自刚毛蠕虫，（多毛类）。软结构在干颗粒环境中的行为是复杂的，仍然没有得到很好的理解。我们描述了一个软机器人的设计和制造能够在颗粒状基板上运动，并探讨驱动策略的启发，刚毛蠕虫的生物力学行为的阻力减少。减阻实验的重点是一个驱动的软引导段。我们实施和研究了两种方法的驱动的领先的部分：周期性的径向扩张和双向弯曲，这两个我们发现有一个影响的运动在颗粒状基板。软机器人执行定期径向扩张的领先的部分经历了最小的整体阻力，而那些未驱动的提示经历了最大的阻力，强调控制尖端刚度，使有效的地下运动的重要性。基于这些结果，我们设计并测试了一个系绳，三段软机器人能够挖掘通过干颗粒介质。
Soft-bodied organisms such as annelids may exploit body compliance using their hydrostatic skeletons and muscles to burrow in granular substrates. In this letter, we investigate the design of soft digging robots inspired by the bristled worm, (polychaetas). The behavior of soft structures in dry granular environments is complex and still not well understood. We describe the design and fabrication of a soft robot capable of locomotion in granular substrates and investigate actuation strategies for drag reduction inspired by the bristled worms biomechanical behaviors. The drag reduction experiments focus on an actuated soft leading segment. We implemented and studied two methods of actuation for the leading segment: periodic radial expansion and bi-directional bending, both of which we find to have an impact on the locomotion in granular substrates. Soft robots performing periodic radial expansion of the leading segments experienced the least overall drag force, while those with unactuated tips experienced the largest drag force, emphasizing the importance of controlling the tip stiffness to enable effective subsurface movement. Based on these results, we designed and tested a tethered, three-segment soft robot capable of digging through dry granular media.