SpiRobs：用于跨尺度多功能抓取的对数螺旋形机器人
SpiRobs: Logarithmic Spiral-shaped Robots for Versatile Grasping Across Scales
AI总结：
本文提出受章鱼臂等自然附肢对数螺旋形态启发的软体机器人SpiRobs，通过统一设计原则实现跨尺度快速制造，并结合自适应抓取策略，展示了从毫米级夹爪到一米长机械臂及阵列的多尺度灵巧抓取能力。
摘要：
实现一种具有生物学可比灵活性和多功能性的软体机械臂，通常需要精心选择材料与驱动方式，并对其结构、感知和控制进行细致设计。本文报道了一类新型软体机器人（SpiRobs），其在形态上复现了自然附肢（如章鱼臂、象鼻等）中观察到的对数螺旋模式。这使得在不同尺度上可以采用统一的设计原则，并实现快速且低成本的制造过程。我们进一步提出了一种受章鱼启发的抓取策略，能够自动适应目标物体的尺寸和形状。我们展示了SpiRobs的灵巧性，以及紧密抓取尺寸差异超过两个数量级、重量最高达自身重量260倍的物体的能力。我们通过三种额外变体展示了其可扩展性：一个微型夹爪（毫米级）、一个一米长的机械臂，以及一个能够缠绕各种物体的SpiRobs阵列。
英文摘要：
Realizing a soft manipulator with biologically comparable flexibility and versatility often requires careful selection of materials and actuation, as well as attentive design of its structure, perception, and control. Here, we report a new class of soft robots (SpiRobs) that morphologically replicates the logarithmic spiral pattern observed in natural appendages (e.g., octopus arms, elephant trunks, etc.). This allows for a common design principle across different scales and a speedy and inexpensive fabrication process. We further present a grasping strategy inspired by the octopus that can automatically adapt to a target object's size and shape. We illustrate the dexterity of SpiRobs and the ability to tightly grasp objects that vary in size by more than two orders of magnitude and up to 260 times self-weight. We demonstrate scalability via three additional variants: a miniaturized gripper (mm), a one-meter-long manipulator, and an array of SpiRobs that can tangle up various objects.
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。
