论文标题
超快速，可编程和无电子的软机器人通过捕捉元数据启用
Ultra-fast, programmable, and electronics-free soft robots enabled by snapping metacaps
论文作者
论文摘要
软机器人具有无数的潜力，因为它们具有本质上符合的身体，从而使人与人类的安全相互作用以及对不可预测的环境的适应性。但是，其中大多数的驱动速度有限，需要复杂的控制系统以及缺乏感应功能。为了应对这些挑战，我们在这里几何设计一类元素，可以利用丰富的非线性机械行为来创建具有前所未有的功能的软机器人。具体而言，我们展示了一种无传感器的元素抓手，在物理接触后可以在3.75毫秒内掌握物体，并且具有可调的致动行为的气动驱动的抓紧术，几乎不依赖于输入速度。两个抓手都可以轻松地集成到用于实际应用的机器人平台中。此外，我们证明了元数据可以推动游泳机器人的推动，展示了放大的游泳速度以及不受限制的，无电子的游泳速度，并具有可调式的速度。我们的元素提供了新的策略，以设计需要高瞬态输出能量并且能够自动且无电子操作的下一代软机器人。
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require complex control systems, and lack sensing capabilities. To address these challenges, here we geometrically design a class of metacaps whose rich nonlinear mechanical behaviors can be harnessed to create soft robots with unprecedented functionalities. Specifically, we demonstrate a sensor-less metacap gripper that can grasp objects in 3.75 ms upon physical contact and a pneumatically actuated gripper with tunable actuation behaviors that have little dependence on the rate of input. Both grippers can be readily integrated into a robotic platform for practical applications. Furthermore, we demonstrate that the metacap enables propelling of a swimming robot, exhibiting amplified swimming speed as well as untethered, electronics-free swimming with tunable speeds. Our metacaps provide new strategies to design the next-generation soft robots that require high transient output energy and are capable of autonomous and electronics-free maneuvering.
