Sun Jiefeng, Lerner Elisha, Tighe Brandon, Middlemist Clint, Zhao Jianguo
Adaptive Robotics Lab, Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA.
Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA.
Nat Commun. 2023 Sep 27;14(1):6023. doi: 10.1038/s41467-023-41708-6.
Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot's body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot's body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs' shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand.
形状变形机器人可以改变其形态，以在不同环境中完成不同任务，但现有的形状变形能力并未嵌入机器人的身体中，需要庞大的支撑设备。在此，我们报告一种嵌入式形状变形方案，其形状驱动、传感和锁定功能均嵌入机器人身体中。我们通过三个变形机器人系统展示了这种嵌入式方案：1）能够自我感知形状的变形抓取器，可适应物体以进行自适应抓取；2）一种四足机器人，能够为不同的陆地运动模式（行走、爬行或水平攀爬）改变其身体形状；3）一种无系绳机器人，能够为两栖运动改变其肢体形状。我们还创建了一个嵌入式变形模块库，以展示多种可编程形状（例如扭转、3D弯曲、表面变形等）。我们的嵌入式变形方案为机器人提供了一条很有前景的途径，使其能够以嵌入式方式重新配置其形态，从而按需适应不同环境。
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