Slithering towards autonomy: a self-contained soft robotic snake platform with integrated curvature sensing
Slithering towards autonomy: a self-contained soft robotic snake platform with integrated curvature sensing
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DOI：
10.1088/1748-3190/10/5/055001
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发表时间：
2015-10-01
影响因子：
3.4
通讯作者：
Onal, Cagdas D.
中科院分区：
文献类型：
--
作者：
Luo, Ming;Pan, Yixiao;Onal, Cagdas D.
软机器蛇在实现曲率行波方面具有显著的优势，减少了活动段的数量，并允许与环境和人类用户进行安全和自适应的交互。然而，目前的软机器人平台缺乏准确的理论动力学模型和本体感受测量，这阻碍了向完全自主的进步。为了解决这一差距，本文详细介绍了我们最近对新一代压力操作软机器人蛇平台的设计，制造和实验评估的结果，我们称之为WPI SRS，它采用嵌入在柔性骨干中的自定义磁传感器来连续监测其四个双向弯曲段中的每一个的曲率。此外，我们还提出了一个完整且准确的动态波动运动模型，该模型考虑了摩擦力矩的传播，以描述SRS的线性和旋转运动。实验研究表明，船上的传感器测量提供准确的实时曲率反馈，数值模拟提供了一个抽象的水平，在理想条件下的横向波动。
Soft robotic snakes promise significant advantages in achieving traveling curvature waves with a reduced number of active segments as well as allowing for safe and adaptive interaction with the environment and human users. However, current soft robot platforms suffer from a lack of accurate theoretical dynamic models and proprioceptive measurements, which impede advancements toward full autonomy. To address this gap, this paper details our recent results on the design, fabrication, and experimental evaluation of a new-generation pressure-operated soft robotic snake platform we call the WPI SRS, which employs custom magnetic sensors embedded in a flexible backbone to continuously monitor the curvature of each of its four bidirectional bending segments. In addition, we present a complete and accurate dynamic undulatory locomotion model that accounts for the propagation of frictional moments to describe linear and rotational motions of the SRS. Experimental studies indicate that on-board sensory measurements provide accurate real-time curvature feedback, and numerical simulations offer a level of abstraction for lateral undulation under ideal conditions.