用可收缩绳颗粒锁死技术，造出会自组装的软体机器人。
Self-Deployable, Adaptive Soft Robots Based on Contracting-Cord Particle Jamming
- 用收缩绳颗粒锁死机制实现自组装与刚度可调。
- 能钻过仅自身宽度61%的隧道，爬15度斜坡带2.4倍自重。
- 适合复杂环境探测，如狭窄空间或负载场景。
我们开发了一类新型软体移动机器人，可利用收缩绳颗粒锁死（CCPJ）技术，在紧凑集成的本体中自我组装成预设构型，并后续调节刚度。以三脚形机器人TripodBot为例，其由三个基于CCPJ的腿与中央主体连接而成。该机器人本体固有柔软，可压缩存储与运输。现场可自展开，通过腿部形状变化以滑-停方式爬行，简化分析模型准确预测其运动速度。其适应性体现在：可穿越仅为其展开体宽61%的隧道，攀爬最高达31%自由站立高度的天花板；还能在15度坡面行走，携带5克负载（为自重的2.4倍），并承受9429倍自重的压力。
原文摘要 · Abstract (English)
We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.
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