Soft Robots
Soft Robots
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DOI：
10.1007/978-3-642-41610-1_146-1
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Cosimo Della Santina;M. Catalano;Antonio Bicchi
中科院分区：
文献类型：
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作者：
Cosimo Della Santina;M. Catalano;Antonio Bicchi
动物身体的物理特征与经典机器人的身体特征有很大不同。弹性肌腱、韧带和肌肉使动物能够与外部世界强有力地互动，并执行动态任务(图1)。在Roberts and Azizi(2011)中讨论了弹性元件在自然体中的作用，并在表1中进行了总结。与自然体相反，传统机器人的物理结构通常非常僵硬。这反映了精确度和在载荷作用下不变形的卓越设计目标。近年来，人们的注意力从重工业应用转向以人为中心和以服务为导向的目标。这反过来又产生了设计方法的转变，从传统的“为准确而设计，为安全而控制”转向“为安全而设计，为性能而控制”。作为确保人类与机器人共存的安全性和舒适性的努力的一部分，机器人系统的物理和认知部分的联合设计被提出，这使得“软机器人”的出现成为可能。受自然例子的启发，在软机器人中，有目的地将弹性元件引入其物理结构中，以获得在机器人的形态中体现人类和动物的运动控制的智能原理的自然运动。根据软机器人研究的主要灵感来源，软机器人研究存在两个主要分支。第一种类型，灵感来自脊椎动物的肌肉-骨骼系统(Albu-Schäffer等人。2008)，通常在驱动或传动元件中具有柔顺元件，并且被称为铰接式软机器人。另一个分支，灵感来自无脊椎动物
The physical characteristics of animals’ bodies are substantially different from those of classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact with the external world and perform dynamic tasks (Fig. 1). The function of elastic elements in natural bodies is discussed in Roberts and Azizi (2011) and summarized in Table 1. As opposed to natural bodies, the physical structure of traditional robots has generally been very stiff. This has reflected the preeminent design goal of accuracy and non-deformability under loads. In recent years, attention has shifted from heavy-industrial applications to human-centered and service-oriented goals. This produced in turn a shift in the design approach, from the traditional “design for accuracy, control for safety” to “design for safety, control for performance.” As part of the efforts to guarantee safety and comfort to humans co-existing with robots, the co-design of the physical and cognitive parts of a robot system was advanced, which made possible the advent of “soft robotics.” Inspired by the natural example, in soft robots elastic elements are purposefully introduced into their physical structure, to obtain “natural” motions which embody in the very morphology of the robot the intelligent principles of motor control in humans and animals. Two main branches exist in soft robotic research according to their main source of inspiration. The first type, inspired by the vertebrate muscle-skeletal system (Albu-Schäffer et al. 2008), typically has compliant elements in the actuation or in the transmission elements and is referred to as articulated soft robots. The other branch, inspired by invertebrates