Autonomous rolling soft robot based on dielectric elastomers

Abstract

The invention relates to an autonomous rolling soft robot based on dielectric elastomers. The robot comprises a robot body, a control system disposed in the robot body and multiple dielectric elastomer driver legs and feet which are disposed outside the robot body, wherein the dielectric elastomer driver legs and feet include flexible frames, reinforcing frames and dielectric elastomer thin filmsdisposed between the flexible frames and the reinforcing frames. The robot is simple in structure, light in weight, convenient to control and quiet in movement and has good performance of full flexibility and impact resistance. By applying voltage, movement of the dielectric elastomer driver legs and feet can be controlled, correspondingly the robot is pushed to roll quickly, and autonomous rolling can be achieved through integration of sensors and the control system.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to an autonomous rolling soft robot based on a dielectric elastic body. Background technique [0002] With the development of artificial intelligence technology, new material technology and various application technologies, robot technology is rapidly expanding from the traditional industrial manufacturing field to medical service, environmental survey, military reconnaissance and other fields. The predicted structured environment has become a complex, dynamic, and uncertain unstructured environment, which requires robotics research to provide new methods in terms of structure, perception, control, and intelligence to adapt to new environments, new tasks, and new needs. [0003] Rolling robots have high moving efficiency and speed, and their structure is generally spherical or closed chain ring, and their control system and precision components can be protected by the shell; th...

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Problems solved by technology

[0004] Aiming at the defects that most of the rolling robots have rigid structure, complex and bulky structure, poor impact resistance, relatively complicated control and high manufacturing cost, the present invention proposes an autonomous rolling soft robot based on dielectric elastomer. The driver drives the robot to roll at high speed, realizing the full flexibility of the robot structure, and integrating the control system and sensors, which can realize autonomous rolling, and the robot has the advantages of light weight, low cost, convenient control, impact resistance, quiet operation, etc.

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