用声波驱动多个机器人无接触搬运空中物体，模拟蚁群协作。
A Cooperative Contactless Object Transport with Acoustic Robots
- 用相控超声波阵列生成局部声压场，实现空中物体精准操控。
- 实验证明独立与协同运输均稳定可行，搬运效率高且同步精度好。
- 适合微装配、生物医疗等需无接触操作的场景。
协作搬运，即多个智能体共同移动物体，在蚁群等生物系统中广泛存在，能提升动态环境下的效率与适应性。受此启发，我们提出一种新型声学机器人系统，用于空中无接触物体搬运。该系统利用相控超声换能器与机载控制单元，生成局部声压场，实现对空中颗粒及机器人个体的精确操控。我们将无接触搬运策略分为独立搬运（非协调）与前向协同搬运（协调），借鉴生物系统以优化效率与鲁棒性。通过麦克风测量悬浮稳定性，基于相空间运动捕捉系统评估搬运效率，使用示波器测试时钟同步精度，实验验证了独立与协同空中搬运的可行性。本研究推动了声流机器人领域发展，潜在应用于无接触物料处理、微装配及生物医学场景。
原文摘要 · Abstract (English)
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these natural phenomena, we present a novel acoustic robotic system for the transport of contactless objects in mid-air. Our system leverages phased ultrasonic transducers and a robotic control system onboard to generate localized acoustic pressure fields, enabling precise manipulation of airborne particles and robots. We categorize contactless object-transport strategies into independent transport (uncoordinated) and forward-facing cooperative transport (coordinated), drawing parallels with biological systems to optimize efficiency and robustness. The proposed system is experimentally validated by evaluating levitation stability using a microphone in the measurement lab, transport efficiency through a phase-space motion capture system, and clock synchronization accuracy via an oscilloscope. The results demonstrate the feasibility of both independent and cooperative airborne object transport. This research contributes to the field of acoustophoretic robotics, with potential applications in contactless material handling, micro-assembly, and biomedical applications.
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