软体机器人研究综述

Review of Soft Robot

摘要:

机器人技术广泛应用于工业生产、医疗服务、勘探勘测、生物工程、救灾救援等领域.传统机器人大都由刚性机构组成，存在环境适应能力低的缺点.软体机器人是一类新型仿生连续体机器人，可以任意改变自身形状，在非结构化环境中应用前景广阔.综述了软体机器人的仿生机理、驱动方式、建模与控制方法等关键问题，并通过分析和梳理软体机器人技术发展中的瓶颈问题及可行解决方案，探讨了软体机器人技术的发展趋势.

Abstract:

Robot technology is widely applicated in fields such as industral manufacture, medical service, exploration and exploitation, bio engineering, rescue, etc. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. Soft robots are the novel bionic continuum robots, which can change their own size and shape in large range and have great potentials in the unstructured enviroment. This paper presents a review about the bionic mechaism, driving mode, modeling and control strategy for soft bodied robots. Some bottlenecks constraints and feasible solutions of soft robot technology are also summarized by means of analysis and classification. Finally, the trends in robot technology are investigated.