无轮软体机器人靠结构自适应运动，无需传感器即可在复杂环境穿行。
WHERE-Bot: a Wheel-less Helical-ring Everting Robot Capable of Omnidirectional Locomotion
- 用弹簧玩具改装成环形结构，实现多模式旋转运动。
- 通过改变质量分布可重编程轨迹，适应不同地形。
- 适合无人探索未知边界环境，如灾难废墟或狭小空间。
与传统轮式运输系统相比，软体机器人在复杂地形中展现出优异的适应性，可在不规则环境中稳定移动。然而，多数软体机器人依赖传感器在边界模糊的非结构化环境中导航，存在碰撞风险。本文提出WHERE-Bot，一种无轮且可翻转的软体机器人，具备全向运动能力。通过将弹簧玩具'Slinky'重构为环形结构，该机器人可实现螺旋绕圈、自转及轨道运行等多种运动模式。其运动轨迹可通过主动调节质量分布进行重编程，无需依赖传感器探测边界。实验表明，WHERE-Bot在非结构化环境中具有显著的边界探索潜力。
原文摘要 · Abstract (English)
Compared to conventional wheeled transportation systems designed for flat surfaces, soft robots exhibit exceptional adaptability to various terrains, enabling stable movement in complex environments. However, due to the risk of collision with obstacles and barriers, most soft robots rely on sensors for navigation in unstructured environments with uncertain boundaries. In this work, we present the WHERE-Bot, a wheel-less everting soft robot capable of omnidirectional locomotion. Our WHERE-Bot can navigate through unstructured environments by leveraging its structural and motion advantages rather than relying on sensors for boundary detection. By configuring a spring toy ``Slinky'' into a loop shape, the WHERE-Bot performs multiple rotational motions: spiral-rotating along the hub circumference, self-rotating around the hub's center, and orbiting around a certain point. The robot's trajectories can be reprogrammed by actively altering its mass distribution. The WHERE-Bot shows significant potential for boundary exploration in unstructured environments.
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