软体机器人用旋转气囊传动实现高效爬行与自适应行走
A Decapod Robot with Rotary Bellows-Enclosed Soft Transmissions
- 用旋转气囊封闭式传动直接将舵机转动转为腿部摆动
- 可连续行走90分钟，速度达1.75厘米/秒，能承重200克并转弯半径15厘米
- 无需阀门的软腿设计适合复杂地形，适合科研与探测场景
软体爬行机器人在多种地形上表现出高效运动能力，并对不同环境具有强鲁棒性。本文提出一种无阀软腿机器人，集成一对旋转气囊封闭式软传动系统（R-BESTS）。该系统可直接将舵机旋转转化为腿部摆动运动。通过同步带控制两套R-BESTS实现反相同步旋转，从而实现交替三脚步态的行走与转向。我们探索了加强骨架在扭转输入气囊单元中的作用，通过输出气囊单元的结构设计控制腿部弯曲序列。最终实现了无缆驱动的软体十脚机器人。实验结果表明，该机器人可持续行走90分钟，速度达1.75厘米/秒（0.07体长/秒），转弯半径15厘米（0.6体长），承载200克负载，并适应多种地形。
原文摘要 · Abstract (English)
Soft crawling robots exhibit efficient locomotion across various terrains and demonstrate robustness to diverse environmental conditions. Here, we propose a valveless soft-legged robot that integrates a pair of rotary bellows-enclosed soft transmission systems (R-BESTS). The proposed R-BESTS can directly transmit the servo rotation into leg swing motion. A timing belt controls the pair of R-BESTS to maintain synchronous rotation in opposite phases, realizing alternating tripod gaits of walking and turning. We explored several designs to understand the role of a reinforcement skeleton in twisting the R-BESTS' input bellows units. The bending sequences of the robot legs are controlled through structural design for the output bellows units. Finally, we demonstrate untethered locomotion with the soft robotic decapod. Experimental results show that our robot can walk at 1.75 centimeters per second (0.07 body length per second) for 90 min, turn with a 15-centimeter (0.6 BL) radius, carry a payload of 200 g, and adapt to different terrains.
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