柔性多足仿生机器人多介质环境中协同运动机理

The evolution of creatures in transitional environment of multi-medium is a complex process, and many kinds of agile phylum molluscs get superb mobility as well as wonderful adaptability to complicated environment during the long-time selection of natural evolution. In the project, the mechanism of soft robot’s bionic synergistic actuationwith multi-peduncle in complex environment, namely the water-land transitional environment of multi-mediumsuch as shoal, reef, morass, clitter, etc, is studied. Based on investigation of physiology of structure and morphological kinematics of phylum molluscs, their structural features and the biological mechanism of synergistic gaits are researched with the help of 3D printing technique, intelligent actuator and novel bionic flexible material, and the environmental interactive mechanism of flexible peduncle s’ active/passive deformation is illuminated. By researching the geometrical and physical features of typical transitional environment such as beach and mud, the dynamic and kinematical model of rigid-soft coupling ground mobile system is built, then the coordination controlmethods of biomimetic multi-peduncle soft robot’s gait generation andconversion adapted to different terrain environments is provided and finally the principle of biological evolution of flexible multi-peduncle creatures’ gaits and adaptability is revealed.

多介质过渡环境下生物体的发展演变是一个十分复杂的过程，经过长期自然进化选择，许多机动灵活的柔性体动物获得了高超的运动性能以及与自然环境的高度适应性。本项目针对沙滩、礁岩、泥淖等多介质水陆过渡环境特性，研究复杂过渡环境下柔体机器人的多腕足仿生协同推进机理。在柔性动物结构生理学、形态运动学调研基础之上，借助3D打印制备技术、智能驱动和新型仿生柔性材料，探究海星、章鱼等多足型柔性体动物结构特性和步态协调运动生物学机制，阐明柔性足主被动变形的环境交互性机理。通过研究沙滩、泥泞等典型过渡环境的几何物理特性，建立并完善柔性多体耦合地面移动系统的动力学和运动学模型，给出适应不同地形环境的多腕足仿生柔体机器人的步态生成与转换协调控制方法，进而揭示柔性多足动物运动步态及环境适应性的生物进化原理。

柔体动物如海星和尺蠖等的运动形式特别，与自然环境具有高度适应性。本项目在柔体动物结构学和运动形态学调研基础上，探究了多款柔体机器人的设计和制备方法、机器人与环境的交互作用机制、运动和步态控制方法等。.1）研制了多款柔体机器人样机，探索了仿生腕足结构的多种实现形式，包括SMA驱动的柔体模块、气动三腔结构致动器和内嵌链板改性的平面内弯曲软体致动器等。建立了各种结构的驱控模型，对气动三腔结构进行了参数优化设计，为三维弯曲致动器的性能优化设计提供了基础理论。.2）研究了柔体机器人与复杂环境的交互作用机制，不同环境下的推进性能及无碰路径规划，设计了适应海滩岩石及树林环境的软体末端夹持附着器，提出了评价其夹持附着质量的判据，通过仿真和实验验证了该判据的有效性。.3）探索了柔性单足及多足变形运动的中枢模式发生器，研究了细长软体机器人对任意目标曲线的变形控制复现问题，设计并研究了两种气动柔体机器人的爬行运动协调控制机理。