SoRX: A Soft Pneumatic Hexapedal Robot to Traverse Rough, Steep, and Unstable Terrain
SoRX: A Soft Pneumatic Hexapedal Robot to Traverse Rough, Steep, and Unstable Terrain
复制标题
DOI：
10.1109/icra40945.2020.9196731
复制
发表时间：
2020-05
期刊：
影响因子：
--
通讯作者：
Zhichao Liu;Zhouyu Lu;Konstantinos Karydis
中科院分区：
文献类型：
--
作者：
Zhichao Liu;Zhouyu Lu;Konstantinos Karydis
软机器人技术为有腿机器人创造了与环境互动和适应环境的新方法。在本文中，我们开发了i)一种新的2自由度软气动执行器，ii)一种新的软机器人六足机器人SoRX利用新的执行器。仿真和物理测试证实，所提出的驱动器可以生成适合腿部运动的循环足部轨迹。与其他六足机器人（和动物）一样，SoRX采用交替的三脚架步态来推动自己前进。实验表明，SoRX可以达到每秒0.44体长的前进速度，相当于101毫米/秒。SoRX长230毫米，宽140毫米，高100毫米，重650克，是迄今为止最快的系绳软气动驱动腿式机器人之一。通过奔跑、爬坡、穿越崎岖地形、陡峭地形和不稳定地形五个实验，对SoRX的运动能力进行了评价。实验结果表明，SoRX能够在具有挑战性的地形上进行开环控制，并在所有实验案例中遵循相同的交替三脚架步态。
Soft robotics technology creates new ways for legged robots to interact with and adapt to their environment. In this paper we develop i) a new 2-degree-of-freedom soft pneumatic actuator, and ii) a novel soft robotic hexapedal robot called SoRX that leverages the new actuators. Simulation and physical testing confirm that the proposed actuator can generate cyclic foot trajectories that are appropriate for legged locomotion. Consistent with other hexapedal robots (and animals), SoRX employs an alternating tripod gait to propel itself forward. Experiments reveal that SoRX can reach forward speeds of up to 0.44 body lengths per second, or equivalently 101 mm/s. With a size of 230 mm length, 140 mm width and 100 mm height, and weight of 650 grams, SoRX is among the fastest tethered soft pneumatically-actuated legged robots to date. The motion capabilities of SoRX are evaluated through five experiments: running, step climbing, and traversing rough terrain, steep terrain, and unstable terrain. Experimental results show that SoRX is able to operate over challenging terrains in open-loop control and by following the same alternating tripod gait across all experimental cases.