用更逼真的八足机器人模拟蜘蛛腿蹲伏，研究其如何增强振动感知。
Creating a biologically more accurate spider robot to study active vibration sensing
- 设计八肢四关节3D打印机器人，模仿蜘蛛腿结构与动作。
- 通过肌腱驱动实现深蹲动作，实测关节振动特征更接近真实蜘蛛。
- 为研究蜘蛛主动感知机制提供高生物保真度的实验模型。
结网蛛通过腿部关节的振动传感器探测网上猎物，常在感知时动态下蹲腿部，这可能是一种主动感知策略。但因难以测量行为动物的系统振动，该机制尚不明确。本文采用机器人物理建模方法研究此问题。此前的蜘蛛机器人仅有四条腿，腿形态简化，下蹲范围有限。本文开发了新型八足机器人，每条腿具四个关节，更贴近蜘蛛腿结构；腿外骨骼采用3D打印，关节刚度通过集成硅胶成型并调节材料与几何参数实现。肌腱驱动使躯干电机可同步深蹲所有八条腿，加速计安装于腿关节记录振动信号。实验表明，新机器人重现了前代机器人的关键振动特征，同时显著提升了生物准确性。本工作为研究腿部行为如何调控网上振动感知提供了更真实的机器人模型。
原文摘要 · Abstract (English)
Orb-weaving spiders detect prey on a web using vibration sensors at leg joints. They often dynamically crouch their legs during prey sensing, likely an active sensing strategy. However, how leg crouching enhances sensing is poorly understood, because measuring system vibrations in behaving animals is difficult. We use robophysical modeling to study this problem. Our previous spider robot had only four legs, simplified leg morphology, and a shallow crouching range of motion. Here, we developed a new spider robot, with eight legs, each with four joints that better approximated spider leg morphology. Leg exoskeletons were 3-D printed and joint stiffness was tuned using integrated silicone molding with variable materials and geometry. Tendon-driven actuation allowed a motor in the body to crouch all eight legs deeply as spiders do, while accelerometers at leg joints record leg vibrations. Experiments showed that our new spider robot reproduced key vibration features observed in the previous robot while improving biological accuracy. Our new robot provides a biologically more accurate robophysical model for studying how leg behaviors modulate vibration sensing on a web.
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