千足虫
机器人
执行机构
地形
微流控
仿生学
计算机科学
软机器人
模拟
生物
移动机器人
人工智能
工程类
材料科学
地质学
纳米技术
生物
生态学
自然(考古学)
古生物学
作者
Qi Shao,Xuguang Dong,Zhonghan Lin,Chao Tang,Hao Sun,Xin-Jun Liu,Huichan Zhao
出处
期刊:IEEE robotics and automation letters
日期:2022-10-01
卷期号:7 (4): 12142-12149
被引量:8
标识
DOI:10.1109/lra.2022.3213137
摘要
Mobile robots that can adapt to an extensive range of terrains play essential roles in many applications. Millipedes are one of the most terrain-adaptive creatures in nature due to their multi-legged locomotion and flexible body. Inspired by natural millipedes, we report an untethered robotic millipede with a 6-segments soft-rigid hybrid body that can actively bend and 24 legs driven by low-pressure microfluidic actuators. The 24 microfluidic actuators are driven by two independent low-pressure sources from miniature pumps, which allows the untethered locomotion of the robotic millipede in small size (length, 23 cm; width, 5 cm; height, 4 cm) and lightweight (150 g). Using a pre-defined gait for the multi-legs, the robotic millipede can locomote with a maximum speed of 30.96 cm/min (1.35 body length per minute) and a minimum turning radius of 15 cm (0.65 body length). Experiments also demonstrated that the robot was able to locomote effectively in various uneven terrains. Utilizing its passive or active mode of its flexible body, the robot could also achieve adaptive moves. The robotic millipede has the potential to perform a variety of environment exploration tasks by remotely controlling and transmitting real-time images wirelessly.
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