外观
论文arXiv 2510.0366012 天前
用于快速爬行运动的两栖无缆尺蠖软体机器人
原文链接：An amphibious untethered inchworm soft robot for fast crawling locomotion（arXiv 2510.03660 · 发布日期：2026-10-16）
An amphibious untethered inchworm soft robot for fast crawling locomotion
面向软体机器人无缆部署，提出磁力驱动的尺蠖式软体机器人，并通过实验表征验证其多模态运动能力。
核心要点
- 动机是推动无缆软体机器人在多样、多任务环境中的实际部署。
- 机器人采用弯曲柔性结构，由磁力驱动，并集成轻量机载控制电路与相机。
- 实现行走、转向、游泳和载荷运输，最高行走速度3.74 cm/s、游泳速度0.82 cm/s。
- 通过结构优化和系统级集成，机器人无需外部基础设施即可完成多种运动。
验证范围与局限：验证范围为实验表征中的行走、转向、游泳和载荷运输等能力。
英文摘要 (Abstract)
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved, flexible structure actuated by magnetic forces. The robot has a total mass of 102.63 g and demonstrates multimodal locomotion, achieving a maximum walking speed of 3 . 7 4 c m / s and a swimming speed of 0 . 8 2 c m / s . A compact and lightweight onboard control circuit enables wireless command transmission, while an integrated camera provides environmental perception. Through structural optimization and system-level integration, the robot successfully performs walking, steering, swimming, and payload transport without reliance on external infrastructure. The robot’s dynamic performance and locomotion capabilities are systematically validated through experimental characterization.
作者：Mohammadjavad Javadi, Charlie Wadds, Robin Chhabra
来源
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