仿脊椎软体尾巴实现高速高力动态操控，兼顾安全与性能。
A Biomimetic Vertebraic Soft Robotic Tail for High-Speed, High-Force Dynamic Maneuvering
- 采用仿生脊椎结构与气动柔性体结合，分离承重与驱动功能。
- 实现超670°/s角速度，力与扭矩提升超200%。
- 适合需要敏捷运动的机器人平台，如四足机器人。
机器人尾部可提升移动机器人的稳定性和机动性，但现有设计在刚性系统高功率与软体系统安全性之间存在权衡。刚性尾部产生大惯性效应，但在非结构化环境中存在风险；软体尾部则缺乏足够的速度和力。本文提出一种仿生脊椎式软体机器人尾（BVSR），通过由被动关节连接的脊柱结构增强柔性气动体，实现负载承载与驱动的解耦，支持高达6 bar的高压驱动，从而获得优异动力学性能的同时保持柔顺性。建立了包含脊椎约束的专用运动学与动力学模型，并通过实验验证。该尾部实现角速度超过670°/s，产生最大惯性力5.58 N、扭矩1.21 Nm，相较无脊椎设计提升超过200%。在快速小车稳态、障碍跨越、高速转向及四足机器人集成等场景中验证了其多功能性与实用价值。
原文摘要 · Abstract (English)
Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate large inertial effects but pose risks in unstructured environments, while soft tails lack sufficient speed and force. We present a Biomimetic Vertebraic Soft Robotic (BVSR) tail that resolves this challenge through a compliant pneumatic body reinforced by a passively jointed vertebral column inspired by musculoskeletal structures. This hybrid design decouples load-bearing and actuation, enabling high-pressure actuation (up to 6 bar) for superior dynamics while preserving compliance. A dedicated kinematic and dynamic model incorporating vertebral constraints is developed and validated experimentally. The BVSR tail achieves angular velocities above 670°/s and generates inertial forces and torques up to 5.58 N and 1.21 Nm, indicating over 200% improvement compared to non-vertebraic designs. Demonstrations on rapid cart stabilization, obstacle negotiation, high-speed steering, and quadruped integration confirm its versatility and practical utility for agile robotic platforms.
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