Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot  

作　　者：Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu 

机构地区：[1]Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration,Harbin University of Science and Technology,Harbin,150080,China [2]State Key Laboratory of Robotics and System,Harbin Institute of Technology(HIT),Harbin,150001,China

出　　处：《Journal of Bionic Engineering》2024年第5期2247-2257,共11页仿生工程学报(英文版)

基　　金：funded and supported by National Outstanding Youth Science Fund Project of National Natural Science Foundation of China(Grant no.52025054);State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2021-KF-13).

摘　　要：This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each other.The upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and balance.By applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and caterpillar.Due to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot directly.Therefore,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling method.This paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of parameters.Finally,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the robot.And comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关 键 词：Soft robot Bionic multi-modal movement Laminated plate theory CPG control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]