The embodiment of the invention discloses an inchworm-imitating soft robot. The inchworm-imitating soft robot comprises a deformable body capable of being bent, at least two variable friction foot parts, and a soft bag driver; the two ends of the deformable body are respectively connected with at least one variable friction foot part, each variable friction foot part comprises a shell and a soft bag arranged in the shell, and a plurality of through holes are formed in the bottom end surface of the shell; the soft bag driver enables the soft bags to be switched between a high-pressure state anda low-pressure state; when the soft bags are in the high-pressure state, the soft bags protrude out of the shells from the through holes so as to increase the friction force between the variable friction foot parts and the ground; when the soft bags are in the low-pressure state, and the soft bags retract into the shells so as to reduce the friction force between the variable friction foot partsand the ground. The inchworm-imitating soft robot provided by the embodiment of the invention has the advantage of low requirement on ground flatness.
本申请实施例公开了一种仿尺蠖软体机器人,包括:能够弯曲的变形本体;至少两个变摩擦足部,所述变形本体的两端分别连接至少一个所述变摩擦足部,所述变摩擦足部包括壳体以及设置在所述壳体内的软囊,所述壳体的底端面上设置有多个通孔;以及软囊驱动器,所述软囊驱动器使得所述软囊能够在高压状态与低压状态之间切换;所述软囊处于所述高压状态,所述软囊从所述通孔中凸出所述壳体外以增大所述变摩擦足部与地面的摩擦力;所述软囊处于所述低压状态,所述软囊缩回所述壳体内以减小所述变摩擦足部与地面的摩擦力。本申请实施例的一种仿尺蠖软体机器人,具有对地面平整性要求低的优点。
Inchworm-imitating soft robot
一种仿尺蠖软体机器人
2020-07-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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