论文标题
动态运动的腿部软机器人平台
A Legged Soft Robot Platform for Dynamic Locomotion
论文作者
论文摘要
我们提出了一个用于动态运动的开源不束缚的四足动物机器人平台（例如，高速跑步和反向流动）。机器人大部分是柔软的（80卷％），而四个齿轮伺服电动机驱动。使用柔性材料将机器人的柔软身体和柔软的腿部用甲状腺填充物打印3D，从而使其能够符合环境，并在多颗粒环境上的运动过程中被动地稳定。此外，我们在实时软体模拟中模拟了机器人。通过在模拟中进行调谐步态，真正的机器人可以以0.9 m/s的速度（2.5车身长度/秒）弹力，速度比迄今为止发布的大多数不受束神观的腿部软机器人快得多。我们希望这个平台及其经过验证的模拟器能够催化软机器人技术的开发。
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and soft legs were 3D printed with gyroid infill using a flexible material, enabling it to conform to the environment and passively stabilize during locomotion on multi-terrain environments. In addition, we simulated the robot in a real-time soft body simulation. With tuned gaits in simulation, the real robot can locomote at a speed of 0.9 m/s (2.5 body length/second), substantially faster than most untethered legged soft robots published to date. We hope this platform, along with its verified simulator, can catalyze the development of soft robotics.
