论文标题
自行式软持久的环形机器人，用于导航和攀登狭窄的空间
Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces
论文作者
论文摘要
人类无法访问许多空间，机器人可以帮助传感器和设备提供。这些空间中的许多都包含三维通道和不均匀的地形，这对机器人设计和控制构成了挑战。通过同时进行的远处和体材料反转的远处的环形机器人有望在这些类型的空间中导航。我们提出了一种新型的柔软的环形机器人，该机器人在充满空气的膜内使用电动装置推动自身。我们的机器人只需要一个控制信号即可移动，可以符合其环境，并且可以垂直爬上电动机扭矩，该电动机扭矩独立于将机器人支撑在其环境上的力。我们得出并验证了其运动所涉及的力的模型，并演示了机器人在迷宫和攀登管道的能力。
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting toroidal robots, which move via simultaneous eversion and inversion of their body material, are promising for navigation in these types of spaces. We present a novel soft everting toroidal robot that propels itself using a motorized device inside an air-filled membrane. Our robot requires only a single control signal to move, can conform to its environment, and can climb vertically with a motor torque that is independent of the force used to brace the robot against its environment. We derive and validate models of the forces involved in its motion, and we demonstrate the robot's ability to navigate a maze and climb a pipe.
