当前位置: X-MOL 学术Sci. Robot. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Electrostatic footpads enable agile insect-scale soft robots with trajectory control
Science Robotics ( IF 25.0 ) Pub Date : 2021-06-30 , DOI: 10.1126/scirobotics.abe7906
Jiaming Liang 1, 2, 3 , Yichuan Wu 4 , Justin K Yim 5 , Huimin Chen 3 , Zicong Miao 3 , Hanxiao Liu 1, 3 , Ying Liu 1 , Yixin Liu 3 , Dongkai Wang 1, 2, 3 , Wenying Qiu 1, 2, 3 , Zhichun Shao 2 , Min Zhang 3 , Xiaohao Wang 1, 3 , Junwen Zhong 2, 6 , Liwei Lin 1, 2
Affiliation  

Agility and trajectory control are two desirable features for robotics, but they become very challenging for soft robots without rigid structures to support rapid manipulations. Here, a curved piezoelectric thin film driven at its structural resonant frequency is used as the main body of an insect-scale soft robot for its fast translational movements, and two electrostatic footpads are used for its swift rotational motions. These two schemes are simultaneously executed during operations through a simple two-wire connection arrangement. A high relative centripetal acceleration of 28 body length per square second compared with existing robots is realized on a 65-milligram tethered prototype, which is better than those of common insects, including the cockroach. The trajectory manipulation demonstration is accomplished by navigating the robot to pass through a 120-centimeter-long track in a maze within 5.6 seconds. One potential application is presented by carrying a 180-milligram on-board sensor to record a gas concentration route map and to identify the location of the leakage source. The radically simplified analog motion adjustment technique enables the scale-up construction of a 240-milligram untethered robot. Equipped with a payload of 1660 milligrams to include the control circuit, a battery, and photoresistors, the untethered prototype can follow a designated, 27.9-centimeter-long “S”-shaped path in 36.9 seconds. These results validate key performance attributes in achieving both high mobility and agility to emulate living agile insects for the advancements of soft robots.



中文翻译:

静电脚垫使具有轨迹控制的敏捷昆虫级软机器人成为可能

敏捷性和轨迹控制是机器人技术的两个理想特性,但对于没有刚性结构来支持快速操作的软机器人来说,它们变得非常具有挑战性。在这里,以其结构谐振频率驱动的弯曲压电薄膜被用作昆虫级软机器人的主体,以实现其快速平移运动,两个静电脚垫用于其快速旋转运动。这两种方案通过简单的两线连接布置在操作期间同时执行。与现有机器人相比,在 65 毫克的系留原型上实现了每平方秒 28 体长的高相对向心加速度,这优于包括蟑螂在内的常见昆虫。轨迹操控演示是通过导航机器人在5.6秒内通过迷宫中120厘米长的轨道来完成的。一个潜在的应用是携带一个 180 毫克的车载传感器来记录气体浓度路线图并确定泄漏源的位置。从根本上简化的模拟运动调整技术使 240 毫克无绳机器人的放大构造成为可能。配备了 1660 毫克的有效载荷,包括控制电路、电池和光敏电阻,不受束缚的原型可以在 36.9 秒内沿着指定的 27.9 厘米长的“S”形路径行驶。这些结果验证了在实现高机动性和敏捷性以模拟活的敏捷昆虫以促进软机器人的进步方面的关键性能属性。

更新日期:2021-07-01
down
wechat
bug