论文标题
无限制的易碎恒星启发的软机器人，用于闭环水下运动
An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
论文作者
论文摘要
软机器人能够与刚性机器人固有地与环境更安全的相互作用，因为它们可以响应意外刺激而机械变形。但是，它们的复杂机制可以使计划和控制变得困难，尤其是在诸如运动之类的任务下。在这项工作中，我们提出了一个不受欢迎的水下爬行软机器人帕特里克（Patrick）的手机，并配上了展示闭环运动计划的测试台。帕特里克（Patrick）受到脆性恒星的启发，五个柔性腿部由总共20张形状 - 记忆合金（SMA）电线驱动，通过其较大的输入空间提供了各种各样的可能运动。我们根据简单的帕特里克动作原语提出了一个运动计划基础架构，并提供了实验，表明计划者可以命令机器人对目标状态进行机动。这些实验贡献了闭环，州空间目标的第一个例子，以寻求水下，不受限制的软爬行机器人，并取得了进展，以完全自主权的自主权。
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control difficult, particularly with tasks such as locomotion. In this work, we present a mobile and untethered underwater crawling soft robot, PATRICK, paired with a testbed that demonstrates closed-loop locomotion planning. PATRICK is inspired by the brittle star, with five flexible legs actuated by a total of 20 shape-memory alloy (SMA) wires, providing a rich variety of possible motions via its large input space. We propose a motion planning infrastructure based on a simple set of PATRICK's motion primitives, and provide experiments showing that the planner can command the robot to locomote to a goal state. These experiments contribute the first examples of closed-loop, state-space goal seeking of an underwater, untethered, soft crawling robot, and make progress towards full autonomy of soft mobile robotic systems.
