Xiang Chaoqun, Tu Guiyang, Ma Ge, Xie Yuan, Zou Tao
School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, People's Republic of China.
SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom.
Bioinspir Biomim. 2025 Nov 4;20(6). doi: 10.1088/1748-3190/ae16f5.
With the rapid advancements in automation and soft robotics, the exploration of mobile robots for applications in complex environments is increasingly deepening. This paper presents a novel dual soft arm mobile robot (DSAMR), whose design integrates advanced soft robotics technologies with biomimetic design inspired by human arms, aiming to achieve efficient obstacle avoidance and object manipulation. The robot employs Bubble Artificial Muscle Arms (BAMAs) for locomotion, enabling flexible movements such as forward, backward, and turning motions; it also integrates TacTip (tactile fingertip), a biomimetic sensor that mimics the tactile structure of human fingertips, to achieve real-time perception. BAMAs and TacTip collaborate to achieve the integration of perception and operation like a human hand, enabling the system to accurately detect obstacles and manipulate objects, including typical delicate items such as a paper towel roll and a pen, with the maximum capacity to grasp objects weighing up to 148.8 g. Experiments have demonstrated that a single inflation-deflation cycle of the BAMAs enables the DSAMR to turn right by 35.5° and left by 28.3°, and successfully allows the DSAMR to recognize obstacles and turn to avoid them. The experimental results indicate that the DSAMR can operate effectively in dynamic environments, with excellent stability and obstacle avoidance capabilities. This paper discusses the design details of BAMA actuators, steering engines, and TacTip, as well as their integration into the robot's motion and sensing systems. The findings emphasize the DSAMR's potential applications in industrial automation, particularly in the context of Industry 4.0. Finally, the study summarizes optimization strategies and future improvement directions to enhance the robot's operational efficiency, including onboard power integration and advanced obstacle recognition technologies.
随着自动化和软机器人技术的迅速发展，对用于复杂环境应用的移动机器人的探索日益深入。本文提出了一种新型双软臂移动机器人（DSAMR），其设计将先进的软机器人技术与受人类手臂启发的仿生设计相结合，旨在实现高效避障和物体操作。该机器人采用气泡人工肌肉臂（BAMA）进行移动，能够实现诸如前进、后退和转弯等灵活运动；它还集成了TacTip（触觉指尖），这是一种模仿人类指尖触觉结构的仿生传感器，以实现实时感知。BAMA和TacTip协同工作，像人类的手一样实现感知与操作的融合，使系统能够准确检测障碍物并操作物体，包括纸巾卷和笔等典型的易碎物品，最大抓取重量可达148.8克。实验表明，BAMA的单个充放气循环能使DSAMR向右转弯35.5°，向左转弯28.3°，并成功让DSAMR识别障碍物并转向避开它们。实验结果表明，DSAMR能够在动态环境中有效运行，具有出色的稳定性和避障能力。本文讨论了BAMA执行器、转向引擎和TacTip的设计细节，以及它们在机器人运动和传感系统中的集成。研究结果强调了DSAMR在工业自动化中的潜在应用，特别是在工业4.0的背景下。最后，该研究总结了优化策略和未来改进方向，以提高机器人的运行效率，包括车载电源集成和先进的障碍物识别技术。
