CLARI的设计：一款微型模块化折纸被动形变机器人
Design of CLARI: A miniature modular origami passive shape-morphing robot
AI总结：
该研究设计了昆虫级模块化折纸四足形变机器人CLARI，通过8个独立驱动自由度和定制压电致动器实现多形态运动，验证了其穿缝隙能力，为杂乱地形导航奠定基础。
摘要：
微型机器人为进入受限环境提供了前所未有的途径，在搜索与救援、高价值资产检测等新型应用中展现出可观潜力。身体变形能力进一步提升了这类小型机器人在复杂杂乱地形中的可达性，可与昆虫和软节肢动物的能力相媲美。受这一理念启发，我们推出了CLARI——一款重2.59克的昆虫级四足机器人，具备身体变形能力，采用系留电气连接供电与控制，通过层压制造工艺生产，并借助折纸弹出技术组装。为实现多种形态配置下的运动，我们设计了一种新型机身架构，由模块化驱动腿部机构组成。总体而言，CLARI拥有8个独立驱动自由度（每个模块化腿部单元2个），由定制压电致动器驱动，机械灵活性出色。我们在三种不同固定机身形态（长形、对称形、宽形）下，采用多种步态（ trot、walk等）在多个步频（1-10Hz）下表征了机器人的开环运动性能，并展示了其能力。最后，我们展示了CLARI的初步实验结果：它凭借柔顺机身在开阔地形中运动，并能穿过侧向受限的缝隙，这是足式机器人的一项全新能力。我们的研究结果是迈向在真实环境中使用自适应柔顺机器人实现有效杂乱地形导航的第一步。
英文摘要：
Miniature robots provide unprecedented access to confined environments and show promising potential for novel applications such as search-and-rescue and high-value asset inspection. The capability of body deformation further enhances the reachability of these small robots in complex cluttered terrains similar to those of insects and soft arthropods. Motivated by this concept, we present CLARI, an insect-scale 2.59g quadrupedal robot capable of body deformation with tethered electrical connections for power and control and manufactured using laminate fabrication and assembled using origami pop-up techniques. In order to enable locomotion in multiple shape configurations, we designed a novel body architecture comprising of modular, actuated leg mechanisms. Overall, CLARI has eight independently actuated degrees of freedom (two per modular leg unit) driven by custom piezoelectric actuators, making it mechanically dextrous. We characterize open-loop robot locomotion at multiple stride frequencies (1-10Hz) using multiple gaits (trot, walk, etc.) in three different fixed body shapes (long, symmetric, wide) and illustrate the robot's capabilities. Finally, we demonstrate preliminary results of CLARI locomoting with a compliant body in open terrain and through a laterally constrained gap, a novel capability for legged robots. Our results represent the first step towards achieving effective cluttered terrain navigation with adaptable compliant robots in 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。
