用沟槽引导的软体机器人，单驱动即可实现方向控制。
Inchworm-Inspired Soft Robot with Groove-Guided Locomotion
- 单个柔性驱动器配合3D打印沟槽基底，被动控制运动方向。
- 改变沟槽角度可精确调控移动路径，无需复杂驱动策略。
- 结构简单能耗低，适合救援、管道检测等场景。
软体机器人需要方向控制以应对复杂地形，但传统方法常依赖多个执行器，导致机械结构复杂、控制系统繁琐且能耗高。本文提出一种仿尺蠖的软体机器人，其运动方向由带图案的基底被动引导。机器人采用单一卷曲型介电弹性体执行器，通过3D打印基底上的沟槽图案实现对齐与轨迹控制。系统实验表明，调节沟槽角度即可实现运动方向的精确调控，无需复杂的驱动策略。该沟槽引导方法显著降低能耗，简化设计，拓展了仿生软体机器人在搜救、管道检测及行星探测等领域的应用潜力。
原文摘要 · Abstract (English)
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption. Here, we introduce an inchworm-inspired soft robot whose locomotion direction is controlled passively by patterned substrates. The robot employs a single rolled dielectric elastomer actuator, while groove patterns on a 3D-printed substrate guide its alignment and trajectory. Through systematic experiments, we demonstrate that varying groove angles enables precise control of locomotion direction without the need for complex actuation strategies. This groove-guided approach reduces energy consumption, simplifies robot design, and expands the applicability of bio-inspired soft robots in fields such as search and rescue, pipe inspection, and planetary exploration.
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