论文标题
软机器人蛇的建模和验证
Modeling and Validation of Soft Robotic Snake Locomotion
论文作者
论文摘要
蛇是一个非凡的进化成功故事。多年来，已经提出了许多受蛇为灵感的机器人。软机器人的蛇（SRS）具有连续和光滑的弯曲能力，可以更好地模仿其生物学的独特特征。先前的SRS仅限于平面操作，其平面步态数量有限。我们提出了一种具有空间弯曲的新型SR，并研究了最先进系统的能力之外的蛇运动步态。我们得出了机器人的完整浮动基础运动学模型，并使用该模型来得出用于蛇形和内/向外/向外/向外滚动步态的关节空间轨迹。在步态周期的不同频率和振幅下，对所提出的SRS的运动步态进行了实验验证。结果在定性和定量上验证了SRS的能力，可以利用空间弯曲以实现当前SRS无法实现运动步态的能力。
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts' unique characteristics. Prior SRSs are limited to planar operation with a limited number of planar gaits. We propose a novel SRS with spatial bending and investigate snake locomotion gaits beyond the capabilities of the state-of-the-art systems. We derive a complete floating-base kinematic model of the robot and use the model to derive jointspace trajectories for serpentine and inward/outward rolling locomotion gaits. The locomotion gaits for the proposed SRS are experimentally validated under varying frequency and amplitude of gait cycles. The results qualitatively and quantitatively validate the SRS ability to leverage spatial bending to achieve locomotion gaits not possible with current SRS.
