Soft Steps: Exploring Quadrupedal Locomotion With Modular Soft Robots
Soft Steps: Exploring Quadrupedal Locomotion With Modular Soft Robots
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DOI：
10.1109/access.2023.3289156
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发表时间：
2023
期刊：
影响因子：
3.9
通讯作者：
Dimuthu D. K. Arachchige;Dulanjana M. Perera;S. Mallikarachchi;Umer Huzaifa;Iyad A. Kanj;I. Godage
中科院分区：
文献类型：
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作者：
Dimuthu D. K. Arachchige;Dulanjana M. Perera;S. Mallikarachchi;Umer Huzaifa;Iyad A. Kanj;I. Godage
柔软的机器人是一种新型的腿部运动方法，表现出强大的潜力，可以使柔软的机器人肢体的全向弯曲能力能够支持一系列的机器人。提案是一种模块化方法，用于构建一个柔软的四倍，以简化机器人构建过程，并通过制定完整的浮动基础运动学模型并得出直型轨迹的参数化轨迹，以实现势力，我们还为启用型号提供了综合效果。离子aits不同参数。实验结果表明，派生的步态模型准确地预测了机器人的机车的有效性。
Soft robots have emerged as a novel approach to legged locomotion, demonstrating strong potential for navigating unstructured terrains. The omnidirectional bending capability of soft robotic limbs allows for a diverse range of locomotion gaits to be supported. Nevertheless, the development of high-dimensional soft robots capable of performing complex locomotion gaits presents a significant challenge due to their intricate design and operation. To address this challenge, our research team proposes a modular method for constructing a soft quadruped that streamlines the robot-building process and improves its reliability. By formulating a complete floating-base kinematic model and deriving parameterized trajectories for straight and turning locomotion, we offer a comprehensive solution to the development of soft quadrupedal locomotion. We also derive gait models to predict locomotion effectiveness, enabling us to study the quadruped’s locomotion gaits under different parameters. Experimental results show that the derived gait models accurately predict the effectiveness of the robot’s locomotion. This modular approach provides a promising solution to the challenge of building high-dimensional soft robots capable of complex locomotion gaits and offers exciting possibilities for future research.