Design and Implementation of a Hybrid-Driven Soft Robot
Currently, soft robots alone cannot obtain the same operating speed as rigid robots, while rigid robots are not safe enough for human-robot interaction. To address this problem, this paper describes a hybrid robot system that combines both rigid and flexible systems for unknown domain exploration. T...
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2024/7624799 |
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| author | Ke Zhang Yongqi Bi Ruiyu Zhang |
| author_facet | Ke Zhang Yongqi Bi Ruiyu Zhang |
| author_sort | Ke Zhang |
| collection | DOAJ |
| description | Currently, soft robots alone cannot obtain the same operating speed as rigid robots, while rigid robots are not safe enough for human-robot interaction. To address this problem, this paper describes a hybrid robot system that combines both rigid and flexible systems for unknown domain exploration. The system consists of a four-wheeled robot chassis and a cylindrical pneumatic soft actuator, and finally, a computer is used to coordinate and control both. The hardware of the robot system is designed, a bending motion model is proposed, and SOFA framework is used to carry out finite element simulation (FEM) to verify the reasonableness of the design; linear motion speeds of up to 0.5 m/s, higher than the existing soft robots investigated, were verified experimentally separately after carrying the new module, and steering ability was retained; and the robot carrying the navigation module is verified to have a certain map building and localization function through the construction of the simultaneous localization and mapping (SLAM) experimental platform. The hybrid robot introduced in this paper can move quickly on flat terrain and can use its soft part to avoid wear and tear. |
| format | Article |
| id | doaj-art-2e434d42f987402ebcdc302e92abe809 |
| institution | DOAJ |
| issn | 1099-0526 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-2e434d42f987402ebcdc302e92abe8092025-08-20T03:18:28ZengWileyComplexity1099-05262024-01-01202410.1155/2024/7624799Design and Implementation of a Hybrid-Driven Soft RobotKe Zhang0Yongqi Bi1Ruiyu Zhang2School of Mechanical EngineeringSchool of Mechanical EngineeringSchool of Cyber Science and EngineeringCurrently, soft robots alone cannot obtain the same operating speed as rigid robots, while rigid robots are not safe enough for human-robot interaction. To address this problem, this paper describes a hybrid robot system that combines both rigid and flexible systems for unknown domain exploration. The system consists of a four-wheeled robot chassis and a cylindrical pneumatic soft actuator, and finally, a computer is used to coordinate and control both. The hardware of the robot system is designed, a bending motion model is proposed, and SOFA framework is used to carry out finite element simulation (FEM) to verify the reasonableness of the design; linear motion speeds of up to 0.5 m/s, higher than the existing soft robots investigated, were verified experimentally separately after carrying the new module, and steering ability was retained; and the robot carrying the navigation module is verified to have a certain map building and localization function through the construction of the simultaneous localization and mapping (SLAM) experimental platform. The hybrid robot introduced in this paper can move quickly on flat terrain and can use its soft part to avoid wear and tear.http://dx.doi.org/10.1155/2024/7624799 |
| spellingShingle | Ke Zhang Yongqi Bi Ruiyu Zhang Design and Implementation of a Hybrid-Driven Soft Robot Complexity |
| title | Design and Implementation of a Hybrid-Driven Soft Robot |
| title_full | Design and Implementation of a Hybrid-Driven Soft Robot |
| title_fullStr | Design and Implementation of a Hybrid-Driven Soft Robot |
| title_full_unstemmed | Design and Implementation of a Hybrid-Driven Soft Robot |
| title_short | Design and Implementation of a Hybrid-Driven Soft Robot |
| title_sort | design and implementation of a hybrid driven soft robot |
| url | http://dx.doi.org/10.1155/2024/7624799 |
| work_keys_str_mv | AT kezhang designandimplementationofahybriddrivensoftrobot AT yongqibi designandimplementationofahybriddrivensoftrobot AT ruiyuzhang designandimplementationofahybriddrivensoftrobot |