软体肢体通过物理耦合实现自振同步，无需控制信号即可高速自主运动。
Physical synchronization of soft self-oscillating limbs for fast and autonomous locomotion
- 利用气流驱动的软管肢体自振，每秒可循环300次
- 多肢体通过与环境互动实现物理同步，速度远超现有技术
- 具备避障、水陆转换、向光性等自主行为，适合仿生机器人设计
动物通过身体内部的物理耦合将运动调节从大脑中解放出来，实现稳健运动。相比之下，人工系统通常依赖中央处理器。本文提出一种快速且自主的运动策略：通过自振肢体与环境之间的物理相互作用产生同步步态，无需控制信号。每个肢体为单一软管结构，仅需持续气流即可在频率高达300赫兹下完成周期性迈步动作。将多个此类自振肢体组合后，其通过体-环境动力学实现物理同步，使运动速度达到同类先进系统的数量级提升。这些看似简单的装置展现出自主性，包括障碍物规避、两栖步态切换和向光运动。
原文摘要 · Abstract (English)
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous locomotion strategy with synchronized gaits emerging through physical interactions between self-oscillating limbs and the environment, without control signals. Each limb is a single soft tube that only requires constant flow of air to perform cyclic stepping motions at frequencies reaching 300 hertz. By combining several of these self-oscillating limbs, their physical synchronization enables locomotion speeds that are orders of magnitude faster than comparable state-of-the-art. Through body-environment dynamics, these seemingly simple devices exhibit autonomy, including obstacle avoidance, amphibious gait transitions, and phototaxis.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。