软触觉传感器和曲率传感器用于类毛毛虫软机器人的自适应运动

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366318

Xin Yuan, Jiakang Zou, Lining Sun, Huicong Liu, Guoqing Jin

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引用次数: 6

摘要

软机器人被设计成能安全地与环境互动，并能在狭窄的地方移动，这是刚性机器人无法做到的。为了使软机器人完全柔软，它应该由尽可能多的软部件组成。本文研制了一种仿仿生毛虫的PneuNet软机器人。此外，还制作了由硅橡胶和液态金属组成的柔软触觉传感器和曲率传感器，并对其进行了表征。软机器人与传感器相结合，实现外部环境感知和运动检测。该软机器人无需复杂控制即可自适应爬过不同高度的通道，并能测量通道的高度。

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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Soft tactile sensor and curvature sensor for caterpillar-like soft robot's adaptive motion

Soft robots are designed to interact safely with their environment and move through narrow place in a way a rigid robot cannot. In order for the soft robot to be completely soft, it should consist of as more as soft component. In this paper, a PneuNet soft robot imitating bionic caterpillar are fabricated. In addition, the soft tactile sensor and curvature sensor consisted of silicon rubber and liquid metal are made and characterized. The soft robot combine with the sensors to realize the external environment perception and motion detection. The soft robot can adaptively crawl across different height channel without complex control and can measure the height of the channel.

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Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

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