Design, fabrication and control of soft robots

被引:4201
|
作者
Rus, Daniela [1 ]
Tolley, Michael T. [2 ]
机构
[1] MIT, Comp Sci & Artificial Intelligence Lab, Stata Ctr, Cambridge, MA 02139 USA
[2] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA
基金
美国国家科学基金会;
关键词
DYNAMIC-MODEL; ARM; KINEMATICS; BATTERIES; DRIVEN; EVOLUTION; ACTUATOR; POLYMER;
D O I
10.1038/nature14543
中图分类号
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号
07 ; 0710 ; 09 ;
摘要
Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.
引用
收藏
页码:467 / 475
页数:9
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