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Cha racterized by its amazing softness, Soft robot can agilely get through cramped space and has strong ability of self-adaption to unstructured environment. Driving mode and path planning are the keys of soft robot. Its drive mode can be divided into cable driven and wireless drive. The materials used in actuators include pneumatic,shape memory alloys, electroactive polymers and polymer gel etc. Pneumatic and shape memory alloys have low flexibility and low degrees of freedom; while materials, like electroactive polymers and polymeric gel, have high flexibility and high degree of freedom. When the path planning mainly adopts artificial intelligence algorithms, many problems in application are still left to be further researched. Probability path method and impact test are easily trapped in the local minimum point and the most advantage; Genetic algorithm, claimed as easy to be combined with other algorithms, is low in operation efficiency and difficult in online programming and its evolutionary effect is not obvious; Neural network enjoys the reputation of high learning ability, simple calculation, fast convergence speed,but it has poor generalization ability. Now the available intelligent algorithm is only applicable to the particular object and cannot be applied to general deformable objects. So it is necessary to focus on the flexible software robots drive and new path planning algorithm in the future study.
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Basic Information:
China Classification Code:TP242
Citation Information:
[1]YOU Xiao-dan,SONG Xiao-bo,CHEN Feng ,et al.Research on Drive Mode and Path Planning of Environmental Self-adaptive Soft Robot[J].Journal of Nantong University (Natural Science Edition),2013,12(03):28-33.
Fund Information:
国家自然科学基金项目(61105111,61005054)
2013-09-20
2013-09-20