软体足式机器人驱动、建模与仿真研究综述

doi:10.3901/JME.2021.19.001

摘要/Abstract

摘要： 软体足式机器人因其优越的移动性能及面对复杂地形的通过能力受到越来越多研究者的关注。由于受到材料性质、驱动方法及制造工艺等多方面的限制，如何实现软体足式机器人的创新结构设计，提升软体机器人的运动速度和负载能力是目前亟待解决的问题之一。综述从仿生结构与驱动方法的角度对目前软体足式机器人的研究发展进行了系统阐述。由于软体机器人多为连续变形结构，加之软材料的物理非线性和软结构变形的几何非线性，力学建模与仿真一直是软体机器人研究领域的瓶颈。梳理了目前软体机器人的主要建模理论，总结了软体机械臂的建模与控制方法，进一步将其拓展到软体足式机器人的系统建模中。介绍了传统商业软件的应用与物理仿真引擎开发的进展，分析了软体机器人虚拟仿真的主要方法，展望了软体足式机器人的应用场景与未来研究方向。

关键词: 软体足式机器人, 驱动, 力学建模, 仿真

Abstract: Soft-legged robots have attracted more and more attention from researchers due to their superior mobility and trafficability through the complex terrain. Because of the limitations of material, actuation and manufacturing technique, how to realize the innovative structural design of the soft-legged robot, to improve the speed and capacity of the soft-legged robot is one of the urgent problems to be solved. Firstly, the review systematically expounds the state of art of soft-legged robots from the perspectives of bionic structure and actuation methods. Since most of the soft robots have continuous deformable structures, coupled with the physical nonlinearity of soft materials and the geometric nonlinearity of soft structure deformation, mechanical modeling and simulation have always been the bottleneck in the field of soft robot research. Combing the main modeling theories of soft robots, summarizing the modeling and control methods of soft manipulators, these theories and methods are further extended to the system modeling of soft-legged robots. The application of conventional commercial software and the development of physical simulation engines are introduced, and the main approaches of virtual simulation of soft robots are analyzed. The application and future research directions of soft-legged robots are prospected.

Key words: soft-legged robot, actuation, mechanical modeling, simulation

中图分类号:

TP24

牛丽周, 丁亮, 高海波, 杨怀广, 苏杨, 李楠. 软体足式机器人驱动、建模与仿真研究综述[J]. 机械工程学报, 2021, 57(19): 1-20.

NIU Lizhou, DING Liang, GAO Haibo, YANG Huaiguang, SU Yang, LI Nan. Review of Actuation, Modeling and Simulation in Soft-legged Robot[J]. Journal of Mechanical Engineering, 2021, 57(19): 1-20.

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