SUMMARYSoft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer (ETL), and strain-limiting layer (SLL). The telescopic actuator provides the energy for the robot to climb forward. The SR-CR is activated by a control strategy that alternates the body deformation and feet pneumatic clenched for stable climbing. The robot can climb rods at 90°, with the maximum speed of up to 2.33 mm/s (0.018 body length/s). At 0.83 HZ, the maximum moving speed of the robot in climbing horizontally parallel rods can reach 18.43 mm/s. In addition, the SR-CR can also achieve multiple impressive functions, including turning around a corner at a rate of 7 mm/s (0.054 body length/s), carrying a payload of 3.7 times its self-weight on horizontal rods at a speed of 9 mm/s (0.069 body length/s).

中文翻译：

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攀爬平行杆的四足软机器人

摘要软机器人在核管道、高压电缆等一些特殊环境下比刚性机器人更能进行有效的巡检。本文介绍了一种多功能四足软爬杆机器人 (SR-CR)，它由四个弯曲执行器和一个伸缩执行器组成。弯曲执行器由具有多个折叠气室的柔性波纹管、弹性伸缩层 (ETL) 和应变限制层 (SLL) 组成。伸缩式执行器为机器人向前爬提供能量。SR-CR 由一种控制策略激活，该策略交替进行身体变形和双脚气动紧握以实现稳定攀爬。机器人可以90°爬杆，最高速度可达2.33 mm/s（0.018体长/s）。在 0.83 HZ 时，机器人在水平平行杆攀爬时的最大移动速度可以达到 18。43 毫米/秒。此外，SR-CR 还可以实现多项令人印象深刻的功能，包括以 7 毫米/秒（0.054 机身长度/秒）的速度转弯，在水平杆上承载 3.7 倍自重的有效载荷速度为 9 毫米/秒（0.069 体长/秒）。