Soft Robotics:Morphology and Morphology-inspired Motion Strategy  

作　　者：Fan Xu Hesheng Wang 

机构地区：[1]Department of Automation,Institute of Medical Robotics,Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China [2]Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2021年第9期1500-1522,共23页自动化学报（英文版）

摘　　要：Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关 键 词：Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]