基于壁虎附着力的海星爬行机器人。
Gecko adhesion based sea star crawler robot.
作者信息
Acharya Sampada, Roberts Peter, Rane Tejas, Singhal Raghav, Hong Peize, Ranade Viraj, Majidi Carmel, Webster-Wood Victoria, Reeja-Jayan B
机构信息
Far-from-equilibrium Materials Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States.
Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States.
出版信息
Front Robot AI. 2023 Jul 4;10:1209202. doi: 10.3389/frobt.2023.1209202. eCollection 2023.
Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotion gait and gecko adhesion. Specifically, we present a sea star-inspired robot with a gecko-inspired adhesive surface that is able to crawl on a variety of surfaces. It is composed of soft and stretchable elastomer and has five limbs that are powered with pneumatic actuation. The gecko-inspired adhesion provides additional grip on wet and dry surfaces, thus enabling the robot to climb on 25° slopes and hold on statically to 51° slopes.
多年来，受生物启发的软机器人技术的努力已催生了模仿天然动物运动特征的移动系统。这包括结合多种生物体的机制以进一步改善运动。在这项工作中，我们试图通过结合两种独立的机制来改善软质两栖机器人的运动：海星运动步态和壁虎粘附力。具体而言，我们展示了一种受海星启发的机器人，其具有受壁虎启发的粘性表面，能够在各种表面上爬行。它由柔软且可拉伸的弹性体制成，有五条由气动驱动的肢体。受壁虎启发的粘附力在潮湿和干燥表面上提供了额外的抓地力，从而使机器人能够在25°的斜坡上攀爬并静态保持在51°的斜坡上。
Zotero 插件