Imitation far the fastest cheetah robot software
Soft robots are usually manufactured by Softer than human muscle is made of soft material to mimic the movement of various mollusks in nature by controlling the deformation of its soft body, such as caterpillars, snakes, fish and jellyfish. And compared to the rigid robots,in terms of flexibility, flexibility, and security, and so it has advantages. At the same time, however, the flexible material also brings some natural defects, such as slow response and force and small, so most of the soft-robot moving more slowly, ranging from 0.02 to 0.8 per length (length of the body itself). Nature snail crawling speed of 0.1-0.2 per second length, and cheetah speed of 16 per second in length. How to make high-speed soft robot can run up to become a problem to be solved. Recently, Professor Zhao Jianguo (NCSU) and Professor Yin Jie team at Colorado State University (CSU) and North Carolina State University, Professor Su Hao City University of New York (CCNY) team, by quickly jump between the clever use of bistable (snap-through bistability), to achieve a soft robot can run fast like a cheetah Pentium (7 cm long body weight about 50 g), and the speed of up to 2.7 per length (187.5mm / s). Meanwhile, the bistable mechanism has many uses, both underwater swimming fast soft robot speed of 0.8 per second length (117mm / s); and can be used to adjust the grip of the robot gripper soft (crawls fragile raw eggs can also lift dumbbells weighing 10 kilograms). Beijing time on May 9 2020, thesis \” Leveraging elastic instabilities for amplified performance: Spine-inspired high-speed and high-force soft robots \” was published in [123 ] Science Advances on.
Cat flexible back inspired Cat\’s back is flexible and elastic, to control the rapid back and bending elongation by pulling back muscles, to achieve high-speed running (Figure 1a). Inspired by the research team designRobot soft flexible back (FIG. 1b), of a soft deformable back \”body\” – driven – soft pneumatic drive. The drive has two layers airway, it can bend in the bidirectional pneumatic compression, thereby driving down the back bending. In order to achieve rapid movement of the back, back to the research team fitted with a \”muscle\” – pretensioning spring (FIG. IB) – store energy, it turned into a bistable mechanism (FIG. 1c): bent back or up Representative downturned two stable states; back when straightened, is unstable state. When the swing \”body\” back and forth, the energy \”muscle\” to the storage and quick release, flexible jumps back and forth between the bi-stable, enabling rapid movement similar to the cheetah\’s back. LEAP team named this robot is a high-performance soft robot.
- faster (shorter response times to 20 times, the kick time of about 50 milliseconds, the movement speed 2-fold (FIG. 2b))
more (3 times the power output, can climb (FIG. 2d) and the like).
LEAP more occasions, high-performance soft robotic applications
the LEAP team demonstrated the robot can also achieve rapid movement underwater and grab ramp stiffness of the manipulator.
: as to the installation of a driver behind the soft flexible tail, by swing around the body, can be simulated fish swimming (FIG. 3a-3b). Previous studies have shown that the higher the drive frequency, soft robot swimming faster, at a drive frequency of 5Hz, the fastest speeds of up to 0.7 length / sec (Fig. 3c). The study showed that even at the low-frequency driver (such as about 1.3Hz), fast jumps that its speed can be as high bistable between 0.78 second length (FIG. 3c). variable stiffness gripper robot : The real-time adjustment of the tension spring, the stiffness of the robot may be changed. Based on this, the team demonstrated the grip can be changed in real-time robot. Robot gripping either frangible eggs, and can crawl irregular shape of the coil, mineral water, and direct gripping dumbbells (FIG. 3d). outlook