The invention provides a multi-modal motion bionic inchworm crawling and climbing soft robot, which comprises feet and three deformable bodies sequentially connected between the two feet, and each deformable body is provided with an extensible face and a non-extensible face. The extensible faces are located on the opposite sides of the non-extensible faces so that the deformable bodies can deform between a linear structure and a C-shaped structure, and when the three deformable bodies are all in a linear structure, the direction of the non-extensible face of the middle deformable body is the same as the direction of the ground grabbing face of the foot, and the direction of the non-extensible face of the middle deformable body is opposite to the direction of the non-extensible faces of the deformable bodies located on the two sides, so that the deformable bodies can be matched with the feet in a flexible deformation mode to complete the horizontal crawling action and/or the climbing action. The multi-modal motion bionic inchworm crawling and climbing soft robot is simple in structure, light in mass and good in compliance, has the ability of multi-modal motion, adapts to motion in different environments and active conversion among the motions, and expands the motion adaptability of the soft robot in a complex environment.
本发明提供了一种多模态运动仿生尺蠖爬行、攀爬软体机器人,包括足部以及依次连接在两个所述足部之间的三个可形变体,所述可形变体具有可伸展面以及不可伸展面,所述可伸展面位于所述不可伸展面的相对侧使得所述可形变体能够在一字形结构到C形结构之间形变,在三个可形变体均处于一字形结构时,中间的可形变体不可伸展面朝向与足部的抓地面朝向相同且与位于两侧可变形体的不可伸展面朝向相反使得可形变体能够以柔性形变的方式配合足部完成水平爬行动作和/或攀爬动作,本发明结构简单、质量轻、柔顺性好,能够具有多模态运动的能力,适应不同环境下运动以及在各运动之间主动转换,扩展了软体机器人在复杂环境下运动适应能力。
Multi-modal motion bionic inchworm crawling and climbing soft robot
多模态运动仿生尺蠖爬行、攀爬软体机器人
2022-02-18
Patent
Electronic Resource
Chinese
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