Locomotion Diversity in an Underwater Soft-Robot Inspired by the Polyclad Flatworm

Locomotion Diversity in an Underwater Soft-Robot Inspired by the Polyclad Flatworm
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受多包扁虫启发的水下软机器人的运动多样性

DOI：
10.1109/iros.2013.6696646
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发表时间：
2013
期刊：
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
影响因子：
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通讯作者：
Y. Komatsu and R. Kobayashi
Y. Komatsu and R. Kobayashi
中科院分区：
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文献类型：
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作者：
T. Kazama;K. Kuroiwa;T. Umedachi;Y. Komatsu and R. Kobayashi

文献摘要

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本文以塑料包层扁虫为原型，研制了一种水下软体机器人。扁形虫的椭圆形、扁平、柔软的身体由橡胶片代表。该片材由具有三个自由度的控制装置控制，以允许横向侧和身体轴线的拍打。通过侧面襟翼与软体机器人体轴的协调运动，实现了软体机器人的前游、悬停和后游等游动模式。
The underwater soft-robot inspired by polyclad flatworms has been developed. The oval, flat, soft body of the flatworm was represented by a rubber sheet. The sheet was controlled by controls with three degrees of freedom to allow flapping of both the lateral sides and the body axis. Swimming patterns, such as swimming forward, hovering, and swimming backwards, were achieved by coordinated movement of the lateral side flaps and the body axis of the soft robot.