用柔性缆线驱动模拟海豚游动，实现仿生灵活运动
An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
- 通过缆线驱动系统实现可调柔性尾部运动
- 实测速度与能耗比（COT）验证了设计有效性
- 开源可定制骨架，适合仿生机器人研究者
本文提出首个基于生物启发的软体海豚机器人，采用极简设计，仅通过一对电机驱动两个缆线驱动自由度。机器人的尾部上下摆动实现游泳，但当前版本尚无法控制转向。与传统使用旋转关节的刚性结构不同，该设计采用可调硅胶皮肤和缆线驱动系统，模拟肌肉动力学与可变骨架结构，具备柔性与可调性。骨架可通过3D打印生成多种几何形状，论文分析了不同结构对机器人运动性能和效率的影响，以速度和运输成本（COT）为评价指标。结果表明，该方法在实现类海豚运动方面具有潜力。
原文摘要 · Abstract (English)
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot. While existing robotic dolphins typically use revolute joints to articulate rigid bodies, our design -- which will be made opensource -- incorporates a flexible tail with tunable silicone skin and actuation flexibility via a cable-driven system, which mimics muscle dynamics and design flexibility with a tunable skeleton structure. The design is also tunable since the backbone can be easily printed in various geometries. The paper provides insights into how a few such variations affect robot motion and efficiency, measured by speed and cost of transport (COT). This approach demonstrates the potential of achieving dolphin-like motion through enhanced flexibility in bio-inspired robotics.
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。