空气释放式软体机器人在爆炸物处理中的应用
Air-Releasable Soft Robots for Explosive Ordnance Disposal
摘要：
使用无人机排雷具有挑战性;空中释放的有效载荷通常是非智能的（例如，水气球或爆炸物），并且由于复杂的部署轨迹和无人机飞行员受限的视觉意识，将它们部署在甚至低的高度（~6米）固有地不准确。软体机器人为空中排雷提供了一种独特的方法，这是由于软体机器人的坚固、低成本和重量轻的设计。在此，我们建议使用可释放空气的软体机器人进行排雷，而不是使用非智能有效载荷。我们开发了一个完整的系统，包括一个改装到软体机器人载体上的无人机，包括一个定制的部署机构，以及一个可空气释放、重量轻（296 g）、不受束缚的软体混合机器人，该机器人具有集成电子设备，其中包含一种新型的真空闪光器滚筒致动器系统。我们展示了一个部署周期，其中无人机从4.5米的高度下降的软机器人混合动力，之后机器人接近一个假地雷。通过在兴趣点部署软体机器人，我们可以将软体机器人技术从实验室过渡到现实世界的环境。
英文摘要：
The demining of landmines using drones is challenging; air-releasable payloads are typically non-intelligent (e.g., water balloons or explosives) and deploying them at even low altitudes (~6 meter) is inherently inaccurate due to complex deployment trajectories and constrained visual awareness by the drone pilot. Soft robotics offers a unique approach for aerial demining, namely due to the robust, low-cost, and lightweight designs of soft robots. Instead of non-intelligent payloads, here, we propose the use of air-releasable soft robots for demining. We developed a full system consisting of an unmanned aerial vehicle retrofitted to a soft robot carrier including a custom-made deployment mechanism, and an air-releasable, lightweight (296 g), untethered soft hybrid robot with integrated electronics that incorporates a new type of a vacuum-based flasher roller actuator system. We demonstrate a deployment cycle in which the drone drops the soft robotic hybrid from an altitude of 4.5 m meters and after which the robot approaches a dummy landmine. By deploying soft robots at points of interest, we can transition soft robotic technologies from the laboratory to real-world environments.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
