论文标题
弹性不稳定性的快速无限制的软机器人横梁
Fast Untethered Soft Robotic Crawler with Elastic Instability
论文作者
论文摘要
动物的高速运动为它们在不同环境中探索，狩猎和逃离捕食者方面具有巨大的优势。通过猎豹和狼等哺乳动物的快速步态，我们设计和制造了一个单人驱动的无束缚的无限制柔软的机器人，该机器人能够以每秒313毫米/s或1.56体长的速度（BL/s）（BL/s），5.2次和2.6倍，比报告的速度快于MMMM/S/s/s/s和Bl/s和Bl/s的速度快了5.2次（BL/s），并比较快5.2倍和2.6倍。由塑料（如塑料）组成的平面预应力夹机构（HCM）被用作机器人的支撑底盘，兼容的脊椎和肌肉力放大器，同时使机器人能够快速且强大。通过实验探索了因素，包括致动频率，底物，绑扎/不缠绕和对称/不对称致动的影响。根据先前的工作，本文进一步证明了HCM在解决软机器人的速度问题方面的潜力。
High-speed locomotion of animals gives them tremendous advantages in exploring, hunting, and escaping from predators in varying environments. Enlightened by the fast-running gait of mammals like cheetahs and wolves, we designed and fabricated a single-servo-driving untethered soft robot that is capable of galloping at a speed of 313 mm/s or 1.56 body length per second (BL/s), 5.2 times and 2.6 times faster than the reported fastest predecessors in mm/s and BL/s, respectively, in literature. An in-plane prestressed hair clip mechanism (HCM) made up of semi-rigid materials like plastic is used as the supporting chassis, the compliant spine, and the muscle force amplifier of the robot at the same time, enabling the robot to be rapid and strong. The influence of factors including actuation frequency, substrates, tethering/untethering, and symmetric/asymmetric actuation is explored with experiments. Based on previous work, this paper further demonstrated the potential of HCM in addressing the speed problem of soft robots.
