The invention relates to the technical field of soft robots, in particular to a steering device and steering method of a four-body self-growing soft robot, comprising a base, bodies and stay wire steering knuckles, materials of the four bodies are pre-stored in the base, and the four bodies are divided into an upper group and a lower group; growth and recovery of the four main bodies are completed by controlling positive and negative rotation of the motor and air pressure; a plurality of stay wire steering joints are arranged on the outer surfaces of the main bodies, one-time steering of the four main bodies is completed through cooperation of air pressure, a motor and the steering joints, and eight steering joints are needed for each-time steering; one turning process is divided into two relatively smooth turning stages, and the material of the main body is not excessively blocked, so that the main body can continuously grow forwards only by slightly increasing the internal air pressure of the base and releasing the main body; cooperative steering of the four-main-body self-growing soft robot is achieved, and continuous growth of the main bodies can be achieved after the robot steers by a large angle.
本发明涉及软体机器人技术领域,具体涉及一种四主体自生长软体机器人的转向转置及转向方法,包括基座、主体、拉线转向关节,所述的基座内部预存有四个主体的材料,四个主体被分为上下两组,通过控制电机正反转和气压完成四个主体的生长与回收;主体外表面设有多个拉线转向关节,通过气压、电机和转向关节协同配合完成四个主体的一次转向,每次转向需要使用8个转向关节;一次转向过程被分为两个较为平缓的转向阶段,主体的材料不会发生过度阻塞,因此只需稍微增大基座内部气压并释放主体,即可实现主体持续向前生长;本发明实现四主体自生长软体机器人的协同转向并能在机器人大角度转向后实现主体的持续生长。
Steering device and steering method of four-body self-growing soft robot
一种四主体自生长软体机器人的转向转置及转向方法
2025-04-29
Patent
Electronic Resource
Chinese
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