Inthis paper,we describethe advances inthe design,actuation,modeling,and controlfield of continuum robots.After decades ofpioneering research,many innovativeve structural designandUntethered magnetic robots are agood ...Inthis paper,we describethe advances inthe design,actuation,modeling,and controlfield of continuum robots.After decades ofpioneering research,many innovativeve structural designandUntethered magnetic robots are agood example;its external actuationcharteristigotten a lot of interest fromacademics.Furthermoodeling,modeling approachesbased on continuunnechals after years oof research.Geometricexactcontilodeling when combined withnumerical analytic methodschtFifecodle-b realized.In the control,closed.loop and hybrid control methodscombined with sensor feedbackinformation.On the other hand,tladeg and control of continum robotseasier.The data-driven modeling technique simplifies modeling aproves anti-interference and generalization abilities.This paper discusses the current development and challenges of continum robots in the above felds and provides prospectsfor the future.展开更多
Untethered soft miniature robots are considered to have a wide range of applications in biomedical field.However,researchers today still have not reached a consensus on its configuration design and actuation method.He...Untethered soft miniature robots are considered to have a wide range of applications in biomedical field.However,researchers today still have not reached a consensus on its configuration design and actuation method.Here,inspired by the tentacles of a certain kind of echinodermata,we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes.Based on the magnetic field distribution of a square permanent magnet,we qualitatively analyze the motion mechanism of the robot.Finally,we carried out relevant experimental research.The research shows that the robot can move forward,backward,steering and cross obstacles under the control of the magnetic field,and can combine these abilities to navigate the maze.展开更多
基金supported by the Fundamental Research Funds for the Zhejiang Provincial Universities(2021XZZX021)Science and Technology on Space Intelli-gent Control Laboratory(2021-JCJQ-LB-010-13)Zhe-jiang Provincial Natural Science Foundation of China(LD22E050007).
文摘Inthis paper,we describethe advances inthe design,actuation,modeling,and controlfield of continuum robots.After decades ofpioneering research,many innovativeve structural designandUntethered magnetic robots are agood example;its external actuationcharteristigotten a lot of interest fromacademics.Furthermoodeling,modeling approachesbased on continuunnechals after years oof research.Geometricexactcontilodeling when combined withnumerical analytic methodschtFifecodle-b realized.In the control,closed.loop and hybrid control methodscombined with sensor feedbackinformation.On the other hand,tladeg and control of continum robotseasier.The data-driven modeling technique simplifies modeling aproves anti-interference and generalization abilities.This paper discusses the current development and challenges of continum robots in the above felds and provides prospectsfor the future.
基金the Fundamental Research Funds for the Zhejiang Provincial Universities,China(2021XZZX021).
文摘Untethered soft miniature robots are considered to have a wide range of applications in biomedical field.However,researchers today still have not reached a consensus on its configuration design and actuation method.Here,inspired by the tentacles of a certain kind of echinodermata,we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes.Based on the magnetic field distribution of a square permanent magnet,we qualitatively analyze the motion mechanism of the robot.Finally,we carried out relevant experimental research.The research shows that the robot can move forward,backward,steering and cross obstacles under the control of the magnetic field,and can combine these abilities to navigate the maze.
