| 软体机器人研究综述 |
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| 引用本文： | 何斌,王志鹏,唐海峰.软体机器人研究综述[J].同济大学学报(自然科学版),2014,42(10):1596-1603. |
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| 作者姓名： | 何斌 王志鹏 唐海峰 |
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| 作者单位： | 同济大学电子信息与工程学院,上海,201804 |
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| 基金项目： | 国家自然科学基金项目（51275360）；高等学校博士学科点专项科研基金（20110072110016） |
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| 摘 要： | 机器人技术广泛应用于工业生产、医疗服务、勘探勘测、生物工程、救灾救援等领域.传统机器人大都由刚性机构组成,存在环境适应能力低的缺点.软体机器人是一类新型仿生连续体机器人,可以任意改变自身形状,在非结构化环境中应用前景广阔.综述了软体机器人的仿生机理、驱动方式、建模与控制方法等关键问题,并通过分析和梳理软体机器人技术发展中的瓶颈问题及可行解决方案,探讨了软体机器人技术的发展趋势.
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| 关 键 词： | 软体机器人 仿生机理 驱动方式 模型 控制策略 |
| 收稿时间： | 2013/10/29 0:00:00 |
| 修稿时间： | 6/7/2014 12:00:00 AM |
Review of Soft Robot |
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| HE Bin,WANG Zhipeng and TANG Haifeng.Review of Soft Robot[J].Journal of Tongji University(Natural Science),2014,42(10):1596-1603. |
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| Authors: | HE Bin WANG Zhipeng and TANG Haifeng |
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| Institution: | College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China;College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China;College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China |
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| Abstract: | Robot technology is widely applicated in fields such as industral manufacture, medical service, exploration and exploitation, bio engineering, rescue, etc. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. Soft robots are the novel bionic continuum robots, which can change their own size and shape in large range and have great potentials in the unstructured enviroment. This paper presents a review about the bionic mechaism, driving mode, modeling and control strategy for soft bodied robots. Some bottlenecks constraints and feasible solutions of soft robot technology are also summarized by means of analysis and classification. Finally, the trends in robot technology are investigated. |
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| Keywords: | soft robot bionic mechanism driving mode model control strategy |
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