论文标题
粒子机器人是一种新型混合生物启发的机器人的特征
Particle robots A new specie of hybrid bio-inspired robotics
论文作者
论文摘要
受到几个没有眼睛的简单生物的启发，没有耳朵。本文提出了一种新型的混合仿生机器人，称为“粒子机器人”，该机器人将宏观有机体和微生物混合在同一机器人中。一方面，在特定的轮状病毒中，生物棘突（海胆）与病毒微生物混合在一起。与球形移动机器人一起。从纯粹的机器人角度来看，这种生物启发的机器人可以看作是穿着驱动外骨骼的球形移动机器人。机器人有两个主要配置：当脊柱收缩时，它变成了一个能够在陆地上快速移动的球形移动机器人，嵌入了所有球形移动机器人属性。另一方面，当刺或腿以受控图案延伸时，它可以在平坦的表面上行走，并在雪地上移动并在岩石上移动为仿生的海胆。机器人的刺是望远镜线性致动器，它结合了柔软和硬的3D打印材料，使驱动装置柔性可在最小的空间中压缩，并刚性地抬起机器人。
Inspired by a couple of simple organisms without eyes, neither ears. This paper presents a novel hybrid bionic robot, called "particle robot", which mix a macro-organism and a micro-organism in the same robot. On one hand, an interesting rather boring animal, the biological Echinoids (sea urchins) is mixed with the viruses micro-organisms, in specific the rotaviruses; together with spherical mobile robots. Analogously, from a pure robotic perspective, this bio-inspired robot can be seen as a spherical mobile robot wearing an actuated exoskeleton. The robot has two main configurations: when the spines are contracted it becomes a spherical mobile robot able to move in a fast pace on land, embedding all spherical mobile robots properties. On the other hand, when the spines or legs are extended in a controlled pattern, it can walk on flat surfaces as well as move on snow and over rocks as a bionic sea urchin. The spines of the robot are telescopic linear actuators, which combines soft and hard 3D print materials to make the actuation unit flexible for compressing it in minimal space and rigid for lifting the robot.
