张拉整体连续体机器人可实现任务自适应形态以达成协同行为
Tensegrity Continuum Robots Enable Task-Adaptive Morphologies for Cooperative Behaviors
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中文总结 AI 辅助
该研究提出结合张拉整体柔顺主体与爪式连接机构的模块化可重构机器人，可自重构为不同形态完成协同任务，为多功能机器人群体应用奠定基础。
中文摘要 AI 辅助
能够针对不同任务和环境改变自身形态与行为的机器人，对构建自适应多功能系统具有重要应用前景。模块化可重构机器人（MRR）通过对接和重新排列单个单元实现此类功能，但多数依赖刚性模块，缺乏结构柔顺性，能力受限。连续体机器人通过柔性主干提供柔顺性，却无法自重构为任务自适应的多机器人构型。本文提出一种模块化可重构机器人（MRR），结合张拉整体（tensegrity）柔顺主体与爪式连接机构，统一了两种架构的优势。每个机器人可独立操作和移动，多个机器人可自重构为不同形态（如链状、环状、分支状），用于协同操作与移动。我们在多种任务和环境中验证了机器人的能力，包括协同物体操作与运输、多模态移动，以及真实场景中的移动操作。这些结果为构建自适应多功能机器人群体奠定了基础，在制造业、太空探索和搜救行动中具有广泛应用潜力。
英文摘要
Robots that can change their morphologies and behaviors for different tasks and environments hold great promise for adaptable, multifunctional systems. Modular reconfigurable robots (MRRs) can achieve such functionalities by docking and rearranging individual units, but most rely on rigid modules that lack structural compliance, resulting in limited capabilities. Continuum robots offer compliance through flexible backbones, yet they cannot self-reconfigure into task-adaptive multi-robot configurations. Here, we introduce an MRR that unifies the advantages of both architectures by combining a tensegrity-based compliant body with claw-based connection mechanisms. Each robot can manipulate and locomote independently, and multiple robots can self-reconfigure into different morphologies (e.g., chains, loops, branches) for cooperative manipulation and locomotion. We demonstrate the robots' capability across diverse tasks and environments, including coordinated object manipulation and transport, multimodal locomotion, and loco-manipulation in real-world scenarios. These results lay a foundation for adaptable and multifunctional robotic collectives, with broad potential applications in manufacturing, space exploration, and search-and-rescue operations.
