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Journal of Shanghai University >

2022 , Vol. 28 >Issue 4: 608 - 618

DOI: https://doi.org/10.12066/j.issn.1007-2861.2338

Research Articles

Bionic soft-limb robot interaction model for sandy soil

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  • School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China

Received date: 2021-06-22

  Online published: 2021-10-08

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Abstract

Most existing sand mobile robots have rigid structures. In performing scientific activities in complex working environments, they often slip, sink, overturn, and experience other problems because of their lack of good environmental adaptability. To solve this problem, a pneumatic soft-limb robot simulating mudskipper in a sand environment is designed. Based on ground mechanics theory and soft-limb robot modeling, by considering the constraints of the robot in a sand environment and through an analysis of the mechanical interaction characteristics between the robot's soft limb and the sand, a soft-limb robot-sand interaction mechanical model is established. The relationship between the input air pressure and robot motion characteristics is also constructed. Finally, the validity and accuracy of the model are verified by experiments. The experimental results demonstrate that the soft-limb robot designed in this study has the advantages of strong environmental adaptability, simple control, and high flexibility.

Key words： sand: soft limb; crawling; robot-sand interaction

Cite this article

YANG Yang, QI Yuyan, WANG Shun, ZHAO Yongjian, ZHONG Songyi . Bionic soft-limb robot interaction model for sandy soil[J]. Journal of Shanghai University, 2022 , 28(4) : 608 -618 . DOI: 10.12066/j.issn.1007-2861.2338

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