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Reconfigurable Particle Swarm Robotics Powered by Acoustic Vibration Tweezer
Soft Robotics ( IF 6.4 ) Pub Date : 2021-12-06 , DOI: 10.1089/soro.2020.0050
Zhitao Zhou 1 , Zewei Hou 1 , Yongmao Pei 1
Affiliation  

Inspired by natural swarms such as bees and ants, various types of swarm robotic systems have been developed to work together to complete tasks that transcend individual capabilities. Autonomous robots controlled by collective algorithm and colloidal swarms energized by external field have been designed in an attempt to emulate collective behaviors in nature. However, either sophisticated hardware designs or active agents with special electromagnetic properties and microstructural designs are needed. Here, for the first time, we create a swarm robotic system that can make any granular materials an active swarm robot by acoustic vibration tweezer. It should be noted that the particles energized by only one vibration generator are ordinary sand without any microstructural design. Therefore, it is the simplest and lowest cost swarm robot. Particles can display a solid-like aggregate, which is capable of robustly carrying and transporting an object that is about 1 million times heavier than a single particle. Moreover, through the cooperation of two swarm robots, we can achieve cooperative transport of a stick with a length of 1000 times the diameter of a single particle. The particle robot can move in a fluid-like amorphous group, which can change its own shape to adapt to the surrounding environment, thus having a strong environmental adaptability. Besides, it can move quickly (about 600 times the particle diameter per second) in a discrete state. Within one certain particle system, the particle swarm robot can emulate diverse biomimetic collective behaviors through navigated locomotion, multimode transformation, and cooperative transport.

中文翻译:

由声振动镊子驱动的可重构粒子群机器人

受蜜蜂和蚂蚁等自然群体的启发,已开发出各种类型的群体机器人系统,以协同工作以完成超越个人能力的任务。由集体算法控制的自主机器人和由外部场激发的胶体群被设计用来模仿自然界中的集体行为。然而,需要复杂的硬件设计或具有特殊电磁特性和微结构设计的活性剂。在这里,我们第一次创建了一个群体机器人系统,可以通过声学振动镊子使任何颗粒材料成为主动群体机器人。需要注意的是,仅由一台振动发生器激发的颗粒是普通沙子,没有任何微观结构设计。因此,它是最简单、成本最低的群体机器人。粒子可以显示出一种类似固体的聚集体,它能够牢固地承载和运输比单个粒子重约 100 万倍的物体。而且,通过两个群机器人的协作,我们可以实现长度为单个粒子直径1000倍的棍子的协同运输。粒子机器人可以在流体状的无定形组中运动,可以改变自身的形状以适应周围的环境,因此具有很强的环境适应性。此外,它可以在离散状态下快速移动(大约每秒颗粒直径的 600 倍)。在一个特定的粒子系统中,粒子群机器人可以通过导航运动、多模式转换和协作运输来模拟各种仿生集体行为。它能够坚固地携带和运输比单个粒子重约 100 万倍的物体。而且,通过两个群机器人的协作,我们可以实现长度为单个粒子直径1000倍的棍子的协同运输。粒子机器人可以在流体状的无定形组中运动,可以改变自身的形状以适应周围的环境,因此具有很强的环境适应性。此外,它可以在离散状态下快速移动(大约每秒颗粒直径的 600 倍)。在一个特定的粒子系统中,粒子群机器人可以通过导航运动、多模式转换和协作运输来模拟各种仿生集体行为。它能够坚固地携带和运输比单个粒子重约 100 万倍的物体。而且,通过两个群机器人的协作,我们可以实现长度为单个粒子直径1000倍的棍子的协同运输。粒子机器人可以在流体状的无定形组中运动,可以改变自身的形状以适应周围的环境,因此具有很强的环境适应性。此外,它可以在离散状态下快速移动(大约每秒颗粒直径的 600 倍)。在一个特定的粒子系统中,粒子群机器人可以通过导航运动、多模式转换和协作运输来模拟各种仿生集体行为。
更新日期:2021-12-07
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