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首页> 外文期刊>Bioinspiration & biomimetics >An earthworm-inspired friction-controlled soft robot capable of bidirectional locomotion
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An earthworm-inspired friction-controlled soft robot capable of bidirectional locomotion

机译：一种能够双向运动的蚯蚓启发的摩擦控制软机器人

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摘要

We present the design, fabrication, modeling and feedback control of an earthworm-inspired soft robot capable of bidirectional locomotion on both horizontal and inclined flat platforms. In this approach, the locomotion patterns are controlled by actively varying the coefficients of friction between the contacting surfaces of the robot and the supporting platform, thus emulating the limbless locomotion of earthworms at a conceptual level. Earthworms are characterized by segmented body structures, known as metameres, composed of longitudinal and circular muscles which during locomotion are contracted and relaxed periodically in order to generate a peristaltic wave that propagates backwards with respect to the worm's traveling direction; simultaneously, microscopic bristle-like structures (setae) on each metamere coordinately protrude or retract to provide varying traction with the ground, thus enabling the worm to burrow or crawl. The proposed soft robot replicates the muscle functionalities and setae mechanisms of earthworms employing pneumatically-driven actuators and 3D-printed casings. Using the notion of controllable subspace, we show that friction plays an indispensable role in the generation and control of locomotion in robots of this type. Based on this analysis, we introduce a simulation-based method for synthesizing and implementing feedback control schemes that enable the robot to generate forward and backward locomotion. From the set of feasible control strategies studied in simulation, we adopt a frictionmodulation-based feedback control algorithm which is implementable in real time and compatible with the hardware limitations of the robotic system. Through experiments, the robot is demonstrated to be capable of bidirectional crawling on surfaces with different textures and inclinations.
机译：我们介绍了能够在水平和倾斜的平台上的双向运动的蚯蚓激发软机器人的设计，制造，建模和反馈控制。在这种方法中，通过主动改变机器人和支撑平台的接触表面之间的摩擦系数来控制运动模式，从而在概念水平下模拟蚯蚓的斜纹运动。蚯蚓以分段的体结构为特征，称为元素，由纵向和圆形肌肉组成，在运动期间是定期收缩和放松的纵向和圆形肌肉，以便产生相对于蠕虫的行进方向向后传播的蠕动波;同时，每个代码物上的微观刷毛状结构（SETAE）相同地突出或缩回以提供不同的牵引力，从而使蠕虫能够挖洞或爬行。所提出的软机器人复制蚯蚓采用气动驱动致动器和3D印刷外壳的蚯蚓的肌肉功能和Setae机制。使用可控子空间的概念，我们表明摩擦在这种类型的机器人的生成和控制中发挥着不可或缺的作用。基于该分析，我们介绍了一种基于模拟的方法，用于合成和实现反馈控制方案，使机器人能够生成前向和后向机器。从模拟中研究的可行性控制策略中，我们采用了一种基于微微调节的反馈控制算法，该算法实时可实现，并与机器人系统的硬件限制兼容。通过实验，将机器人证明能够在具有不同纹理和倾斜的表面上进行双向爬行。

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