连续且大规模：受象鼻启发的软结构手臂ELEANOR

中文摘要 AI 辅助

象鼻是一种灵巧且多功能的操纵器，其性能在机器人领域仍无与伦比。以往工作优先考虑模块化并构建了相对小规模的连续体机器人。我们以非洲象的天然鼻子为模型，提出一种不同的设计方法，该方法注重结构连续性和动态特性，合理模拟天然象鼻，同时赋予对环境和人类的高适应性。我们表明基于自然系统宏观特性的仿生设计能实现象似运动和抓握，而非针对特定行为。通过3D打印构建了一个85厘米长、柔顺、锥形、体素化的连续体手臂，并结合模仿天然模型纵向和斜向肌肉的腱驱动。我们展示了对不同形状和尺寸物体的全身抓握，并讨论了与生物象鼻的比较，突出了生物学和机器人技术的方面。

英文摘要

The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-scale continuum robots were built. We take the natural proboscis of the Loxodonta africana species as a model and propose a different design approach which favors structural continuity and natural frequency that plausibly emulate those of the natural trunk, while conferring high adaptability to the environment and humans. Instead of targeting prescribed behaviors, we show that a biomimetic design based on the macroscopic properties of the natural system enables elephant-like movements and grasping. We build by 3D printing an 85 cm long, compliant, tapered, volumetrically tessellated continuum arm, which is combined with tendon-driven actuation mimicking the longitudinal and oblique muscles of the natural model. We demonstrate whole-body grasping of objects having different shapes and dimensions and discuss a comparison to the biological trunk highlighting aspects of both biology and robotics.

发表机构

• Soft BioRobotics Perception Laboratory, Istituto Italiano di Tecnologia（软生物机器人感知实验室，意大利理工学院）
• Department of Autonomous Systems Engineering, Korea Aerospace University（自主系统工程系，韩国航空航天大学）
• Photocentric Ltd.（Photocentric公司）
• BRAIR lab, The BioRobotics Institute, Scuola Superiore Sant’Anna（BRAIR实验室，生物机器人研究所，圣安娜高等学院）
• Laboratory of Artificial and Natural Evolution, Department of Genetics and Evolution, University of Geneva（人工与自然进化实验室，基因与进化系，日内瓦大学）

机构由 AI 辅助整理，请以论文原文为准。