软尾机械臂让四足机器人在危险区自主采样，无需人员进入。
The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments
- 用柔性肌腱驱动的软尾抓取和擦拭污染表面。
- 实验表明抓取动作不影响机器人姿态，肌腱共模控制可调刚度。
- 适合核电、核聚变等复杂危险环境中的远程检测任务。
放射性区域中铍污染检测对机器人构成挑战，尤其在布满电缆与电子设备的环境中。为此，我们开发了一种新型四足机器人附加装置：轻量、柔软且由肌腱驱动的柔性机械尾。该尾部具有中空柔韧主干和肌腱驱动的软夹爪，可拾取采样拭子、擦拭污染表面，并在指定位置释放，供后续铍元素分析。为实现直观遥操作，设计了闭式运动学模型与鲁棒的任务空间控制器。实验表明，夹爪驱动对机器人形态影响极小，共模肌腱驱动可有效实现刚度调节与预紧力控制。验证结果证明所提运动学模型适用于实时任务空间控制。该系统结合了腿式机器人灵活性与软体操作顺应性，使整个污染调查流程可在无人暴露情况下完成。尽管以欧洲核子研究中心（CERN）的铍污染调查为背景，但该四足软尾概念广泛适用于复杂、狭小或高危环境中作业的腿式机器人，传统刚性机械臂在此类场景中不适用。
原文摘要 · Abstract (English)
Beryllium contamination surveys in radioactive areas are challenging for robots in environments cluttered with cables and electronics. To address this problem, we have developed a novel quadruped system augmentation: A lightweight, soft, and compliant tendon-actuated robotic tail mounted on a quadruped robot. The tail features a hollow, flexible backbone and a tendon-actuated soft gripper that enables the robot to pick up sampling tissues, swab contaminated surfaces, and release the tissues at designated collection locations for subsequent beryllium analysis. To enable intuitive teleoperation, a closed-form kinematic model and a singularity-robust task-space controller are developed. Experimental results demonstrate that gripper actuation has a negligible effect on robot shape, while common-mode tendon actuation provides an effective mechanism for stiffness modulation and preload control. Furthermore, experimental validation indicates that the proposed kinematic model provides a suitable basis for real-time task-space control. The proposed system combines the agility of legged locomotion with the compliance of soft robotic manipulation, enabling the complete contamination-survey procedure to be performed without human exposure. While motivated by beryllium contamination surveys at CERN, the proposed quadruped soft-tail concept is broadly applicable to legged robots operating in cluttered, confined, or hazardous environments where conventional rigid-link manipulators are undesirable.
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