Modeling and Motion Control of a Soft Robot
Modeling and Motion Control of a Soft Robot
复制标题
软体机器人的建模与运动控制
DOI：
10.1109/tie.2016.2572670
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发表时间：
2017-02
影响因子：
7.7
通讯作者：
Hongwei Xu
中科院分区：
文献类型：
--
作者：
Yanqiong Fei;Hongwei Xu
本文对一种由身体变形控制的具有机车能力的软机器人进行了建模、分析和构造。该机器人由一个薄钢外壳、四个传感器和四个形状记忆合金（SMA）弹簧组成。由于sma施加的力，薄钢壳变形，使机器人不断滚动和向前移动。这项研究分为四个层次。首先，在建立柔性机器人模型的基础上，分析了柔性机器人在变形条件下进行滚动动作的约束条件。然后，研究了SMAs的变形与加热时间的关系。基于sma的变形和机器人重心的变化，对机器人的滚动运动进行了动力学分析。通过动态仿真验证了该理论的可行性。第三层包括设计一个基于四个可变形传感器反馈数据的闭环控制器，这一特征在以前的研究中从未应用于软机器人。最后，搭建了软体机器人样机，并进行了实验对比，验证了理论的有效性。
A soft robot with locomotive abilities controlled by body deformations is modeled, analyzed, and then constructed in this study. The robot is composed of a thin steel shell, four sensors, and four shape memory alloy (SMA) springs. Due to the force exerted by the SMAs, the thin steel shell deforms and causes the robot to roll and move forward continuously. The study is conducted in four tiers. Initially, after producing a model of the soft robot, the constraint conditions of rolling actions from deformations are analyzed. Then, the relationship between the deformation and the heating time of SMAs is studied. A dynamic analysis on the rolling motion is presented based on the deformation of SMAs and the change in the robot's center of gravity. A dynamic simulation is also conducted to test the feasibility of the theory. The third tier consists of designing a closed-loop controller based on feedback data from the four deformable sensors, a feature that has never been applied to soft robots in previous studies. Finally, a prototype of the soft robot is built, and an experiment is conducted and compared to prove the validity of the theory.
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DOI：
10.1007/978-3-642-41610-1_146-1
发表时间：
2020
期刊：
Encyclopedia of Robotics
影响因子：
--
作者：
Cosimo Della Santina;M. Catalano;Antonio Bicchi
通讯作者：
Cosimo Della Santina;M. Catalano;Antonio Bicchi
DOI：
10.1073/pnas.1116564108
发表时间：
2011-12-20
影响因子：
11.1
作者：
Shepherd, Robert F.;Ilievski, Filip;Whitesides, George M.
通讯作者：
Whitesides, George M.
影响因子：
5.6
作者：
Fei, Yanqiong;Gao, Hanwei
通讯作者：
Gao, Hanwei
DOI：
10.1177/0278364906065386
发表时间：
2006-05
期刊：
The International Journal of Robotics Research
影响因子：
--
作者：
Y. Sugiyama;S. Hirai
通讯作者：
Y. Sugiyama;S. Hirai
影响因子：
3.4
作者：
Mazzolai, B.;Margheri, L.;Laschi, C.
通讯作者：
Laschi, C.