论文标题
由折叠的自我维持振荡器驱动的爬行机器人
A crawling robot driven by a folded self-sustained oscillator
论文作者
论文摘要
不依赖电子和/或电磁组件的机车机器人将打开机器人技术的新观点和应用。但是，这些机器人通常涉及复杂且乏味的制造过程，从而限制了它们的应用。在这里，我们通过将简单的控制和驱动嵌入到折纸启发的机制中，从而开发出一种易于制作的爬行机器人，从而消除了对离散电子和传感器的需求。我们爬行的机器人通过由板上折纸自我维持的振荡器推动的方向摩擦发射，该振荡器会从单个恒定源的源产生定期的驱动。爬行机器人轻巧（〜3.8克），超低成本（〜$ 1），非磁性和无电子；它可以在极端环境（例如大辐射或磁场）中实现实际应用。该机器人可以通过具有通用材料（即材料和导电线）的基于折叠折叠的方法来制造机器人。这种快速的设计和制造方法使该制造范式内的各种机制可以编程组装，为自主，不受限制的机器人奠定了基础，而无需电子设备。
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting their applications. Here, we develop an easy-to-fabricate crawling robot by embedding simple control and actuation into origami-inspired mechanisms through folding, eliminating the need for discrete electronics and transducers. Our crawling robot locomotes through directional friction propelled by an onboard origami self-sustained oscillator, which generates periodic actuation from a single source of constant power. The crawling robot is lightweight (~ 3.8 gram), ultra low-cost (~ US $1), nonmagnetic, and electronic-free; it may enable practical applications in extreme environments, e.g., large radiation or magnetic fields. The robot can be fabricated through a monolithic origami-inspired folding-based method with universal materials, i.e., sheet materials and conductive threads. This rapid design and fabrication approach enables the programmable assembly of various mechanisms within this manufacturing paradigm, laying the foundation for autonomous, untethered robots without requiring electronics.
