模块化设计
执行机构
机器人
打滑(空气动力学)
刚度
仿生学
工程类
蠕动
模拟
控制理论(社会学)
蜗杆传动
计算机科学
控制工程
机械工程
结构工程
人工智能
反冲
控制(管理)
医学
解剖
操作系统
航空航天工程
作者
Andrew D. Horchler,KandhariAkhil,Kathryn A. Daltorio,C MosesKenneth,C RyanJames,A StultzKristen,N KanuElishama,B AndersenKayla,A KershawJoseph,J BachmannRichard,J ChielHillel,D QuinnRoger
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2015-12-01
卷期号:2 (4): 135-145
被引量:47
标识
DOI:10.1089/soro.2015.0010
摘要
Effective worm-like gaits require accurate segment coordination. However, there can be imprecision due to segment-to-segment variation in the soft structure, variation in actuator response to loads, or nonlinearities not compensated for in control. Here, our objective is to demonstrate how body softness with respect to frictional loads determines a tolerance for the controlled coordination of worm-like segments. To explore this, our new soft robot, compliant modular mesh worm, utilizes compliant mesh segments that are individually actuated with different waveforms that result in peristaltic locomotion. The modular mesh is constructed from 3D printed and commercially available parts, allowing for the testing of a variety of components that can be easily interchanged to vary stiffness. A series of experiments were performed to characterize the actuated mesh and the behavior of segment contact points during locomotion. In our robot, video analysis shows slip along the ground that is explained by sources of imprecision that are greater than tolerances specified by friction and compliance. The six-segment robot is faster on surfaces with greater friction (where slip is minimized) and can advance at 25.8 cm/min on a plywood surface. The data presented highlight the importance of lifting advancing segments off the ground and the role of sources of imprecision in the control of segment length. These analyses will be useful for the design and control of future peristaltic devices for new applications.
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