用振动驱动柔性腿，实现微型四足机器人多种移动模式。
Vibration of Soft, Twisted Beams for Under-Actuated Quadrupedal Locomotion
- 通过两个电机振动驱动螺旋柔性腿，实现三种运动模式。
- 实验验证闭环控制下可稳定追踪轨迹并自主导航。
- 提出通用参数选择指标，提升环境变化下的鲁棒性。
无促动的柔顺机器人系统通过预设计的本体动力学行为，为缓解驱动与控制挑战提供了新路径。本文提出Flix-Walker，一种新型、无线、厘米级的四足机器人，受柔顺无促动机制启发。其采用柔性螺旋形腿部结构，仅通过两个电机产生的振动即可实现三种不同的运动模式。我们通过仿真与原型实验分析了生成不同运动模式所需的驱动参数，并研究了系统与环境变化对运动性能的影响。为此提出一个通用指标，用于选择能产生稳健且有效运动的控制参数。实验验证了在闭环控制框架下这些驱动参数的有效性与鲁棒性，展示了可靠的轨迹跟踪与自主导航能力。
原文摘要 · Abstract (English)
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered, centimeter-scale quadrupedal robot inspired by compliant under-actuated mechanisms. Flix-Walker employs flexible, helix-shaped beams as legs, which are actuated by vibrations from just two motors to achieve three distinct mobility modes. We analyze the actuation parameters required to generate various locomotion modes through both simulation and prototype experiments. The effects of system and environmental variations on locomotion performance are examined, and we propose a generic metric for selecting control parameters that produce robust and functional motions. Experiments validate the effectiveness and robustness of these actuation parameters within a closed-loop control framework, demonstrating reliable trajectory-tracking and self-navigation capabilities.
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