仿毛毛虫的柔性机器人可深入狭窄空间探索。
Caterpillar-Inspired Spring-Based Compressive Continuum Robot for Bristle-based Exploration
- 用弹簧驱动的柔韧结构实现弯曲与伸缩联动。
- 定位误差均值仅4.32毫米，控制精度高。
- 适合工业管道巡检，改造现有机械臂低成本。
受限空间（如管道、风道）的探测对传统刚性机器人而言仍具挑战，受限于空间狭小、几何不规则及通行限制。受毛毛虫运动与感知启发，本文提出一种紧凑型弹簧驱动的肌腱驱动连续体机器人，可集成于商用机械臂用于狭窄空间检测。系统结合机械柔顺连续体与肌腱驱动模块，实现弯曲与轴向长度变化耦合，并采用恒曲率运动学模型实现位置控制。实验表明，在所提模型与控制流程下，平均定位误差为4.32毫米。为拓展系统功能从运动到检测，集成人工刷毛接触传感器，通过接触交互实现表面感知与受限空间探索。该紧凑柔顺设计为商用机器人提供低成本升级方案，有望在复杂环境中实现高效探测。
原文摘要 · Abstract (English)
Exploration of confined spaces, such as pipelines and ducts, remains challenging for conventional rigid robots due to limited space, irregular geometry, and restricted access. Inspired by caterpillar locomotion and sensing, this paper presents a compact spring-based tendon-driven continuum robot that integrates with commercial robotic arms for confined-space inspection. The system combines a mechanically compliant continuum body with a tendon actuation module, enabling coupled bending and axial length change, and uses a constant-curvature kinematic model for positional control. Experiments show a mean position error of 4.32 mm under the proposed model and control pipeline. To extend the system from motion to inspection, we integrate an artificial bristle contact sensor and demonstrate surface perception and confined-space exploration through contact interactions. This compact and compliant design offers a cost-effective upgrade for commercial robots and promises effective exploration in challenging environments.
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