论文标题
昆虫腿启发的机器人腿
A robotic leg inspired from an insect leg
论文作者
论文摘要
虽然大多数受昆虫灵感的机器人都带有简单的tarsus，例如半球形脚尖，但昆虫的腿具有复杂的tarsal结构和爪子，这使他们能够在复杂的地形上行走。它们的锋利爪可以通过锻炼单个肌肉来平滑地附着并脱离植物表面。因此，在腿部机器人上安装昆虫启发的tarsus将改善其在复杂地形上的运动。本文表明，肌腱驱动的球射击结构提供了柔韧性和刚性，这对于甲虫在复杂的基板上（例如网状表面）上行走是必不可少的。通过去除塔萨关节的插座和弹性膜来禁用TARSUS的刚度，爪子无法牢固地附着在网眼上。同时，当我们通过管道使塔尔苏斯（Tarsus）僵硬时，甲虫努力从底物中抽出爪子。然后，我们开发了一种电缆驱动的生物启发的Tarsus结构，以验证Tarsus的功能，并显示其在腿部机器人中的潜在应用。使用Tarsus，在执行步行周期时，机器人腿能够从网格基板上平稳地缩回和缩回。
While most insect-inspired robots come with a simple tarsus such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and detach on plant surfaces by actuating a single muscle. Thus, installing insect-inspired tarsus on legged robots would improve their locomotion on complex terrain. This paper shows that the tendon-driven ball-socket structure provides the tarsus both flexibility and rigidity, which is necessary for the beetle to walk on a complex substrate such as a mesh surface. Disabling the tarsus' rigidity by removing the socket and elastic membrane of a tarsal joint, the claws could not attach to the mesh securely. Meanwhile, the beetle struggled to draw the claws out of the substrate when we turned the tarsus rigid by tubing. We then developed a cable-driven bio-inspired tarsus structure to validate the function of the tarsus as well as to show its potential application in the legged robot. With the tarsus, the robotic leg was able to attach and retract smoothly from the mesh substrate when performing a walking cycle.
