Earthworm-Inspired Multimodal Pneumatic Continuous Soft Robot Enhanced by Winding Transmission.

IF 10.5 Q1 ENGINEERING, BIOMEDICAL
Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-03-19 eCollection Date: 2025-01-01 DOI:10.34133/cbsystems.0204
Jianbin Liu, Pengcheng Li, Zhihan Huang, Haitao Liu, Tian Huang
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引用次数: 0

Abstract

This paper presents an earthworm-inspired multimodal pneumatic continuous soft robot enhanced by wire-winding transmission. First, a derived overlapped continuous control law based on multiple peristaltic waves is introduced to effectively improve the motion performance of the robot. Second, by applying the wire-winding transmission method, the extension of one segment is simultaneously transformed into the contraction of other segments, achieving coordinated deformation and making it more similar to real earthworms. In addition, an autonomous obstacle-avoidance control strategy based on contact force sensing is developed to enhance the environmental adaptability of the robot. Based on these methods, an earthworm-inspired soft robot that can perform multimodal movements with autonomous obstacle-avoidance ability and enhanced motion efficiency is developed. A series of experiments including in- and cross-plane crawling, obstacle avoidance steering, and pipeline crawling are conducted to validate the robot's multimodal motion capabilities. The robot can achieve a speed of 6.65 mm/s (36.0 × 10-3 bl/s) during in-plane crawling movement and 1.66 mm/s (8.97 × 10-3 bl/s) during pipeline crawling movement. In terms of the in-plane crawling speed, the robot surpasses other robots of the same type. In conclusion, the robot's multimodal capabilities and enhanced motion efficiency demonstrate superior overall performance, and the robot has good potential for medical and industrial applications.

以蚯蚓为灵感的多模态气动连续软机器人。
提出了一种采用绕线传动增强的蚯蚓型多模态气动连续软机器人。首先,推导了一种基于多蠕动波的重叠连续控制律,有效改善了机器人的运动性能;其次,采用绕线传动方式,将一段的伸展同时转化为其他段的收缩,实现协调变形,使其更接近真实的蚯蚓。此外,为了提高机器人的环境适应性,提出了一种基于接触式力传感的自主避障控制策略。在此基础上,研制了一种具有自主避障能力和运动效率提高的仿蚯蚓型多模式运动软机器人。通过平面内和跨平面爬行、避障转向和管道爬行等一系列实验,验证了机器人的多模态运动能力。机器人面内爬行速度可达6.65 mm/s (36.0 × 10-3 bl/s),管道爬行速度可达1.66 mm/s (8.97 × 10-3 bl/s)。在平面内爬行速度方面,该机器人超越了其他同类型机器人。综上所述,该机器人的多模态能力和增强的运动效率显示出优越的整体性能,具有良好的医疗和工业应用潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
7.70
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审稿时长
21 weeks
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