综述无轮软体机器人在多场景下的移动技术进展
Terrestrial Soft Mobile Robots: A Review
- 系统梳理无轮软体机器人的运动策略与驱动方式
- 归纳建模与控制方法，揭示当前研究瓶颈
- 适合软体机器人、智能系统方向的研究者参考
软体移动机器人已成为一个极具前景的研究领域，潜在应用涵盖搜救、服务、监视、探测和制造等多个方向。本文全面回顾了软体移动机器人研究的现状，重点聚焦无轮陆地运动系统。内容涵盖运动策略、驱动方式、建模方法与控制系统的发展历程与最新进展。同时，识别出推动软体移动机器人广泛应用所需克服的关键科学挑战。本文为关注软体机器人与软体系统领域的研究人员和实践者提供了重要参考。
原文摘要 · Abstract (English)
Soft mobile robots have emerged as a promising area of research with potential applications in various disciplines including but not limited to search-and-rescue, service, surveillance, explorations, and manufacturing. In this article, we provide a comprehensive review of the current state of soft mobile robot research, focusing on wheelless terrestrial locomotive systems. We include past and present developments in locomotion strategies, actuation methods, modeling approaches, and control systems. Further, we identify key research challenges that must be overcome to enable the widespread adoption of soft mobile robots in various applications. Overall, this article provides a valuable resource for researchers and practitioners interested in the field of soft mobile robots and soft robotics.
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