一种多运动模式的仿生软体爬行机器人设计与性能研究

刘晓华; 王耀南; 冯运

doi:10.16383/j.aas.c250680

一种多运动模式的仿生软体爬行机器人设计与性能研究

doi: 10.16383/j.aas.c250680 cstr: 32138.14.j.aas.c250680

刘晓华^{1, 2,},
王耀南^{1, 2,},
冯运^{1, 2,}

1.
湖南大学人工智能与机器人学院长沙 410082
2.
湖南大学机器人视觉感知与控制技术国家工程研究中心长沙 410082

基金项目: 国家重点研发计划(2023YFB4706400), 国家自然科学基金(62522311, 62473143), 湖南省自然科学基金(2024JJ5087), 广东省自然科学基金(2025A1515011482), 工业控制技术全国重点实验室开放基金(ICT2025B03), 工业物联网与网络化控制教育部重点实验室开放基金(2024FF01), 自主智能无人系统全国重点实验室开放基金(ZZKF2025-3-3), 广东省家用电器基础技术重点实验室开放基金(GJJZ20250103), 江西省自然科学基金(20232BAB212024), 湖南省研究生科研创新项目(CX20240414)

详细信息

作者简介:
刘晓华：湖南大学人工智能与机器人学院博士研究生. 2023年获得湖南大学硕士学位. 主要研究方向为软体机器人设计、建模和控制. E-mail: liuxh@hnu.edu.cn

王耀南：中国工程院院士, 湖南大学人工智能与机器人学院教授. 1995年获得湖南大学博士学位. 主要研究方向为机器人学, 智能控制和图像处理. E-mail: yaonan@hnu.edu.cn

冯运：湖南大学人工智能与机器人学院副教授, 机器人视觉感知与控制技术国家工程研究中心研究员. 主要研究方向为机器人数字孪生, 软体机器人建模与控制. 本文通信作者. E-mail: fyrobot@hnu.edu.cn

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出版历程
- 网络出版日期: 2026-04-24

Design and Performance Study of a Biomimetic Soft Crawling Robot with Multiple Motion Modes

LIU Xiao Hua^{1, 2
,},
WANG Yao Nan^{1, 2
,},
FENG Yun^{1, 2
,}

1.
School of Artificial Intelligence and Robotics, Hunan University, Changsha 410082
2.
National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082

Funds: Supported by National Key Research and Development Program of China (2023YFB4706400), National Natural Science Foundation of China (62522311, 62473143), Natural Science Foundation of Hunan Province (2024JJ5087), Natural Science Foundation of Guangdong Province (2025A1515011482), Open Fund of the State Key Laboratory of Industrial Control Technology(ICT2025B03), Open Fund of the Key Laboratory of Industrial Internet of Things & Networked Control, Ministry of Education(2024FF01), Open Fund of State Key Laboratory of Autonomous Intelligent Unmanned Systems(ZZKF2025-3-3), Open Fund of Guangdong Provincial Key Laboratory of Basic Technology for Household Appliances(GJJZ20250103), Natural Science Foundation of Jiangxi Province (20232BAB212024), Postgraduate Scientific Research Innovation Project of Hunan Province(CX20240414)

More Information

Author Bio:
LIU Xiao-Hua　Ph. D. candidate at the School of Artificial Intelligence and Robotics, Hunan University. He received his master degree from Hunan University in 2023. His main research interest covers soft robot design, modeling and control

WANG Yao-Nan　Academician at Chinese Academy of Engineering, professor at the College of Electrical and Information Engineering, Hunan University. He received his Ph. D. degree from Hunan University in 1995. His main research interest covers robotics, intelligent control, and image processing

FENG Yun　Associate professor at the School of Artificial Intelligence and Robotics, Hunan University, researcher at the National Engineering Research Center of Robot Visual Perception and Control Technology. His main research interest covers robot digital twins, soft robot modeling and control. Corresponding author of this paper

摘要

摘要: 仿生关节结构与多模式爬行机器人对复杂环境下的柔顺运动具有重要意义. 针对现有爬行机器人运动模式单一的问题, 本文首先设计了一种受章鱼触腕肌肉结构启发的三腔气动关节. 该关节实现了模块化设计和三维空间的差异化轨迹运动. 基于该关节本文提出并研制了一种兼具多种运动模式的仿生爬行机器人. 通过选择不同的气压激励方式, 机器人在同一平台上实现了类似蜥蜴的纵向爬行与类似螃蟹的横向爬行, 分别实现了142.54 mm/min和90.02 mm/min的移动速度. 本文围绕关节设计原理、结构实现、制造工艺及机器人集成与运动验证进行了系统研究, 为气动关节设计和多模式仿生爬行机器人的开发提供了新的技术途径.
- 软体机器人 /
- 仿生设计 /
- 爬行机器人 /
- 气动关节
Abstract: Biomimetic joint structures and crawling robots with multiple motion modes play an important role in achieving compliant locomotion in complex environments. To address the limitation of single-mode locomotion in existing crawling robots, this study first designs a three-chamber pneumatic joint inspired by the muscular structure of octopus arms. The joint features a modular design and enables differential trajectory motion in three-dimensional space. Based on this joint, a biomimetic crawling robot with multiple locomotion modes has been designed and developed. By selecting different pneumatic excitation patterns, the robot can perform lizard-like longitudinal crawling and crab-like lateral crawling on the same platform, achieving locomotion speeds of 142.54 mm/min and 90.02 mm/min, respectively. The study systematically investigates the joint design principles, structural implementation, fabrication process, robot integration, and motion validation, providing a new technical pathway for the design of pneumatic joints and the development of crawling robots with multiple motion modes.
- Soft robots /
- biomimetic design /
- crawling robots /
- pneumatic joints

HTML全文

图 1 仿生爬行机器人设计思路

Fig. 1 Design concept of the biomimetic crawling robot

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图 2 正在变形和运动的章鱼

Fig. 2 Design concept of the biomimetic crawling robot An octopus that is transforming and moving

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图 3 章鱼触腕的横截面. 在该切片中, 红色为结缔组织, 棕色为肌肉. 比例尺: 100微米

Fig. 3 The cross-section of an octopus's tentacle. In this slice, red represents connective tissue and brown represents muscle. Scale: 100 µm ^[21].

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图 4 气动伸长单元; (a) 气动伸长单元结构图; (b) 单元的气室结构; (c) 弹性膜结构; (d) 伸长单元的爆炸视图.

Fig. 4 Pneumatic extension unit. (a) Structure diagram of the pneumatic extension unit; (b) Structure of the air chamber of the unit; (c) Elastic membrane structure; (d) Explosion view of the extension unit.

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图 5 仿生气动关节; (a) 气动关节结构图; (b) 气动关节的爆炸视图; (c)气动关节实物图.

Fig. 5 Biomimetic pneumatic joint. (a) Structural diagram of the pneumatic joint; (b) Exploded view of the pneumatic joint. (c) Physical image of the pneumatic joint.

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图 6 仿生爬行机器人

Fig. 6 Biomimetic crawling robot.

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图 7 仿生气动关节的制备与组装流程

Fig. 7 Preparation and assembly process of biomimetic pneumatic joints

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图 8 实验平台; (a) 多摄像头数据采集系统; (b) 气源系统.

Fig. 8 Experimental platform. (a) Multi-camera data acquisition system; (b) Air source system.

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图 9 气动关节轨迹生成实验I; (a)摄像头及气动关节布置图; (b) 激励策略a激励下末端轨迹; (c) 激励策略b激励下末端轨迹; (d) 激励策略c激励下末端轨迹. 图中数字为气室的编号. 每个实验持续5个周期. 彩色箭头表示运动顺序.

Fig. 9 Trajectory generation experiment I of the pneumatic joint: (a) experimental setup showing the camera and pneumatic joint arrangement; (b) end-effector trajectory under excitation strategy A; (c) end-effector trajectory under excitation strategy B; (d) end-effector trajectory under excitation strategy C. The numbers in the figure denote the indices of the pneumatic chambers. Each experiment lasted for five cycles. Colored arrows indicate the motion sequence.

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图 10 气动关节轨迹生成实验II; (a)激励策略d激励下末端轨迹; (b)激励策略e激励下末端轨迹; (c)激励策略f激励下末端轨迹; (d) 激励策略g激励下末端轨迹. 图中数字为气室的编号. 每个实验持续5个周期. 彩色箭头表示运动顺序.

Fig. 10 Trajectory generation experiment II of the pneumatic joint: (a) end-effector trajectory under excitation strategy D; (b) end-effector trajectory under excitation strategy E; (c) end-effector trajectory under excitation strategy F; (d) end-effector trajectory under excitation strategy G. The numbers in the figure denote the indices of the pneumatic chambers. Each experiment lasted for five cycles. Colored arrows indicate the motion sequence.

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图 11 软体机器人爬行实验; (a)纵向爬行; (b) 横向爬行. 图中数字为气动关节的编号.

Fig. 11 Crawling experiments of the soft robot: (a) longitudinal crawling; (b) lateral crawling. The numbers indicate the pneumatic joint IDs.

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