以蛇为灵感的机器人综述

IF 1.9 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS
Xiaolong Yang, Long Zheng, Da Lü, Jinhao Wang, Shukun Wang, Hang Su, Zhixin Wang, Luquan Ren
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引用次数: 6

摘要

仿生机器人对环境具有很强的适应性,在许多领域具有重要意义。本文旨在根据蛇形机器人的应用环境,系统地阐述其研究进展。根据每个关节的自由度对蛇形机器人进行了分类,并简要介绍了蛇形机器人的建模和控制。最后,对蛇形机器人的应用领域和未来发展趋势进行了分析和讨论。设计/方法/方法综述了蛇形机器人的研究进展,阐明了蛇形机器人对自适应环境和多功能任务的要求。通过装备各种传感器和工具模块,蛇形机器人从单一环境下的定点操作发展到两栖环境下的自主操作。最后,指出蛇仿生机器人将向刚柔可变形结构、长寿命、多功能智能自主控制等方向发展。受生物蛇的模块化和可重构概念的启发,以蛇为灵感的机器人能够很好地适应未知和不断变化的环境。因此,蛇类机器人将广泛应用于工业、军事、医疗、灾后搜救等领域。蛇形机器人已成为仿生机器人领域的研究热点。原创性/价值本文总结了蛇形机器人的研究现状,便于读者对蛇形机器人的研究进展有一个全面、系统的了解。这有助于读者从生物学的角度获得灵感。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
The snake-inspired robots: a review
Purpose Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control of snake-inspired robots. Finally, the application fields and future development trends of snake-inspired robots are analyzed and discussed. Design/methodology/approach This paper summarizes the research progress of snake-inspired robots and clarifies the requirements of snake-inspired robots for self-adaptive environments and multi-functional tasks. By equipping various sensors and tool modules, snake-inspired robots are developed from fixed-point operation in a single environment to autonomous operation in an amphibious environment. Finally, it is pointed out that snake-inspired robots will be developed in terms of rigid and flexible deformable structure, long endurance and multi-function and intelligent autonomous control. Findings Inspired by the modular and reconfigurable concepts of biological snakes, snake-inspired robots are well adapted to unknown and changing environments. Therefore, snake-inspired robots will be widely used in industrial, military, medical, post-disaster search and rescue applications. Snake-inspired robots have become a hot research topic in the field of bionic robots. Originality/value This paper summarizes the research status of snake-inspired robots, which facilitates the reader to be a comprehensive and systematic understanding of the research progress of snake-inspired robots. This helps the reader to gain inspiration from biological perspectives.
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来源期刊
Assembly Automation
Assembly Automation 工程技术-工程:制造
CiteScore
4.30
自引率
14.30%
发文量
51
审稿时长
3.3 months
期刊介绍: Assembly Automation publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of assembly technology and automation, and reflecting the most interesting and strategically important research and development activities from around the world. Because of this, readers can stay at the very forefront of industry developments. All research articles undergo rigorous double-blind peer review, and the journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations.
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