A multi-mode reconstruction method for a soft robot

Abstract

The application discloses a multi-mode reconstruction method of a soft robot, and the soft robot has a polyhedral structure and comprises a plurality of spherical structures respectively located at vertices of the polyhedral structure and a plurality of telescopic structures respectively located at edges of the polyhedral structure. Two ends of each telescopic structure are movably connected with two spherical structures respectively. The size of each spherical structure is adjustable, and the length of each telescopic structure is adjustable. The polygonal surface of the polyhedral structure is hollow. After the spherical structure is reduced in size or the telescopic structure is elongated, the spherical structure can be inserted into the polyhedral structure of another soft robot. Since the spherical structure can be enlarged and the telescopic structure can be shortened, the spherical structure inserted into the polyhedral structure is restrained, and the spherical structure cannot be separated from the polyhedral structure, so that the two soft robots are connected, and the two soft robots can form different shapes to obtain a soft robot with different reconstruction modes.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a method for reconstructing a soft robot. Background Technology

[0002] Robots can be widely used in manufacturing, aerospace, extreme environment operations, and food and pharmaceutical packaging industries, depending on task requirements and environmental changes. In the existing technology, as described in patent document CN102672716A, all links in the polyhedral closed triangular mechanism and linkage components are telescopic. When the robot achieves self-reconfiguration, it can extend or retract the corresponding links according to different configuration changes. However, this only involves a single robot achieving reconfiguration, rather than multiple robots forming different structures.

[0003] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multi-mode reconfiguration method for soft robots, which addresses the above-mentioned deficiencies of the prior art and aims to solve the problem that it is difficult for multiple robots to form different structures in the prior art.

[0005] The technical solution adopted by this invention to solve the technical problem is as follows:

[0006] A multi-modal reconfiguration method for a soft robot, wherein the soft robot has a polyhedral structure and includes:

[0007] Several spherical structures are located at the vertices of the polyhedral structure;

[0008] Several telescopic structures are located on the edges of the polyhedral structure;

[0009] The telescopic structure is movably connected to two spherical structures at both ends.

[0010] The size of the spherical structure is adjustable;

[0011] The length of the telescopic structure is adjustable;

[0012] The multi-mode reconstruction method includes the following steps:

[0013] Determine the reconfiguration mode of the two soft robots;

[0014] According to the reconstruction mode, the air pressure of the sealed bag and / or the air pressure of the balloon are adjusted, and the two soft robots are connected to complete the reconstruction.

[0015] The multi-mode reconfiguration method for the soft robot, wherein the number of faces of the polyhedral structure is 4 to 12.

[0016] The multi-mode reconfiguration method for the soft robot, wherein the telescopic structure includes:

[0017] Expansion body;

[0018] Two first magnetic suction elements are located at both ends of the telescopic body;

[0019] The telescopic structure is movably connected to the spherical structure via a connector; the connector includes:

[0020] A flexible base is attached to the surface of the spherical structure and has several mounting positions.

[0021] Several second magnetic components are installed in the corresponding mounting positions;

[0022] The second magnetic component is magnetically connected to the first magnetic component.

[0023] The multi-mode reconfiguration method for the soft robot, wherein the telescopic body is a porous telescopic body that elongates after inhaling gas; the telescopic structure further includes:

[0024] The sealed bag, wherein the porous telescopic body and the first magnetic suction element are both located inside the sealed bag;

[0025] The first vent tube is connected to the sealed bag.

[0026] The multi-mode reconfiguration method for the soft robot, wherein the flexible base is provided with pipe holes; the spherical structure includes:

[0027] The balloon rests against the flexible base;

[0028] The second vent tube is connected to the balloon;

[0029] The second vent pipe is located inside the pipe hole.

[0030] In the multi-mode reconfiguration method for the soft robot, each connector has 3 or 4 mounting positions.

[0031] The multi-mode reconfiguration method for the soft robot, wherein the reconfiguration mode is a magnetic connection mode, in which a connector of one soft robot is magnetically connected to a connector of another soft robot; the step of adjusting the air pressure of the sealed bag and / or the air pressure of the balloon according to the reconfiguration mode, and connecting the two soft robots to complete the reconfiguration, includes:

[0032] Lower the balloons of the two soft robots respectively, so that the balloons inflate and expose the connectors;

[0033] The exposed connectors of the two soft robots are magnetically connected.

[0034] The multi-mode reconfiguration method for the soft robot, wherein the soft robot has a tetrahedral structure, the reconfiguration mode is a first pin-type connection mode, in which a spherical structure of one soft robot is inserted into a polyhedral structure of another soft robot, and the two soft robots overlap in the insertion direction; the method further includes adjusting the air pressure of the sealed bag and / or the air pressure of the balloon according to the reconfiguration mode to achieve connection between the two soft robots and complete the reconfiguration, comprising:

[0035] Insert the spherical structure of one soft robot into the polyhedral structure of another soft robot, and adjust the two soft robots to overlap.

[0036] Increase the air pressure of the spherical structure inserted into the polyhedral structure, and decrease the air pressure of the sealing bags on each side of the insertion port of the polyhedral structure.

[0037] The multi-mode reconfiguration method for the soft robot, wherein the soft robot has a tetrahedral structure, the reconfiguration mode is a second pin-type connection mode, in which a spherical structure of one soft robot is inserted into a polyhedral structure of another soft robot, and the two soft robots do not overlap in the insertion direction; the step of adjusting the air pressure of the sealed bag and / or the air pressure of the balloon according to the reconfiguration mode, and connecting the two soft robots to complete the reconfiguration, includes:

[0038] Insert the spherical structure of one soft robot into the polyhedral structure of another soft robot, and adjust the two soft robots to a non-overlapping state.

[0039] Increase the air pressure of the spherical structure inserted into the polyhedral structure, and decrease the air pressure of the sealing bags on each side of the insertion port of the polyhedral structure.

[0040] Beneficial effects: The polygonal faces of the polyhedral structure are hollow. After the spherical structure is reduced in size or the telescopic structure is extended, the spherical structure can be inserted into the polyhedral structure of another soft robot. Since the spherical structure can be enlarged and the telescopic structure can be shortened, the spherical structure inserted into the polyhedral structure is bound and will not detach from the polyhedral structure, thus realizing the connection between the two soft robots. Moreover, the two soft robots can form different shapes and obtain soft robots with different reconstruction modes. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of the soft robot in an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the connector and the spherical structure in an embodiment of the present invention.

[0043] Figure 3 This is a schematic diagram of the connector structure in an embodiment of the present invention.

[0044] Figure 4 This is a schematic diagram of the telescopic structure in an embodiment of the present invention.

[0045] Figure 5a This is a schematic diagram of the soft robot reconstructed in the magnetic connection mode in an embodiment of the present invention, in the insertion direction.

[0046] Figure 5b This is a first side view of the soft robot reconstructed in the magnetic connection mode in this embodiment of the invention.

[0047] Figure 5c This is a second side view of the soft robot reconstructed in the magnetic connection mode in this embodiment of the invention.

[0048] Figure 5d This is a third side view of the soft robot reconstructed in the magnetic connection mode in this embodiment of the invention.

[0049] Figure 6a This is a schematic diagram of the soft robot reconstructed in the insertion direction under the first pin-type connection mode in this embodiment of the invention.

[0050] Figure 6b This is a first side view of the soft robot reconstructed under the first pin-type connection mode in the embodiment of the present invention.

[0051] Figure 6c This is a second side view of the soft robot reconstructed under the first pin-type connection mode in an embodiment of the present invention.

[0052] Figure 6d This is a third side view of the soft robot reconstructed under the first pin-type connection mode in an embodiment of the present invention.

[0053] Figure 7a This is a schematic diagram of the soft robot reconstructed in the insertion direction under the second pin-type connection mode in this embodiment of the invention.

[0054] Figure 7b This is a first side view of the soft robot reconstructed under the second pin-type connection mode in this embodiment of the invention.

[0055] Figure 7c This is a second side view of the soft robot reconstructed under the second pin-type connection mode in the embodiment of the present invention.

[0056] Figure 7d This is a third side view of the soft robot reconstructed under the second pin-type connection mode in this embodiment of the invention.

[0057] Explanation of reference numerals in the attached figures:

[0058] 100. Spherical structure; 110. Second vent tube; 120. Cable tie; 130. Connector; 131. Second magnetic closure; 132. Flexible base; 133. Pipe hole; 140. Balloon; 200. Telescopic structure; 201. Telescopic body; 202. Sealing bag; 203. First magnetic closure; 204. Bag opening; 205. First vent tube. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0060] Please also refer to Figures 1-4 This invention provides some embodiments of a soft robot.

[0061] like Figure 1 As shown, a soft robot of the present invention has a polyhedral structure and includes:

[0062] Several spherical structures 100 are located at the vertices of the polyhedral structure;

[0063] Several telescopic structures 200 are located on the edges of the polyhedral structure;

[0064] The telescopic structure 200 is movably connected to two spherical structures 100 at both ends; the size of the spherical structures 100 is adjustable; and the length of the telescopic structure 200 is adjustable.

[0065] It is worth noting that a polyhedral structure refers to a three-dimensional structure enclosed by four or more polygons, where a polygon is a closed figure formed by three or more line segments connected end to end in sequence. A spherical structure 100 refers to a structure with a shape resembling a sphere or ellipsoid; the size of the spherical structure 100 can be adjusted, and it remains a spherical structure 100 even after adjustment. A telescopic structure 200 refers to a structure whose length can be extended or retracted; adjusting the length of the telescopic structure 200 changes the distance between the two spherical structures 100 at its ends. The spherical structure 100 is located at the vertex of the polyhedron structure, and the telescopic structure 200 serves as the edge of the polyhedron structure. The two ends of the telescopic structure 200 are movably connected to the spherical structure 100. The polygonal surface of the polyhedron structure is hollow. After the spherical structure 100 shrinks or the telescopic structure 200 stretches, the spherical structure 100 can be inserted into the polyhedron structure of another soft robot. Since the spherical structure 100 can be enlarged and the telescopic structure 200 can be shortened, the spherical structure 100 inserted into the polyhedron structure is bound, and the spherical structure 100 will not detach from the polyhedron structure, thus realizing the connection between the two soft robots. The two soft robots can form different shapes and obtain soft robots with different reconstruction modes.

[0066] In a preferred implementation of this invention, such as Figure 1 As shown, the number of faces of the polyhedral structure is 4 to 12.

[0067] Specifically, the surface of the polyhedral structure is a polygon, and the number of surfaces of the polyhedral structure is 4 to 12. The number of surfaces of the polyhedral structure can be configured as needed.

[0068] In a preferred implementation of this invention, such as Figure 1 and Figure 4 As shown, the telescopic structure 200 includes:

[0069] Telescopic body 201;

[0070] Two first magnetic suction elements 203 are located at both ends of the telescopic body 201, respectively.

[0071] Specifically, the telescopic body 201 can extend and retract, adjusting the length of the telescopic structure 200. The first magnetic member 203 is used for magnetic connection with other components, and the first magnetic member 203 can be connected to both ends of the telescopic body 201.

[0072] In a preferred implementation of this invention, such as Figures 1-3 As shown, the telescopic structure 200 is movably connected to the spherical structure 100 via a connector 130; the connector 130 includes:

[0073] The flexible base 132 is attached to the surface of the spherical structure 100 and has several mounting positions.

[0074] Several second magnetic components 131 are installed in corresponding mounting positions;

[0075] The second magnetic member 131 is magnetically connected to the first magnetic member 203.

[0076] Specifically, the flexible base 132 is flexible and deformable. Because the angle between the telescopic structure 200 and adjacent telescopic structures 200 changes after the telescopic structure 200 extends or retracts, the flexible base 132 deforms to adjust the position of the mounting location and adapt to the changes in the telescopic structure 200. The second magnetic attractor 131 forms a magnetic connection with the first magnetic attractor 203. The magnetic attractor can be a magnetic component or a component magnetically attracted by a magnetic component. For example, the two magnetic attractors can be a magnetic component and an iron component, or two magnetic components. The second magnetic attractor 131 uses a magnetic component, such as a magnetic component.

[0077] In a preferred implementation of this invention, such as Figure 1 and Figure 4 As shown, the telescopic body 201 is a porous telescopic body, which lengthens after absorbing gas.

[0078] Specifically, the telescopic body 201 is a porous telescopic body with a porous structure. Gas (such as air) can be filled into the porous structure, which will cause the porous telescopic body to elongate; after the gas is extracted from the porous structure, the porous telescopic body will shorten.

[0079] In a preferred implementation of this invention, such as Figure 1 and Figure 4 As shown, the telescopic structure 200 further includes:

[0080] The sealed bag 202, the porous telescopic body and the first magnetic suction element 203 are both located inside the sealed bag 202;

[0081] The first vent pipe 205 is connected to the sealed bag 202.

[0082] Specifically, to ensure that the air inside the porous telescopic body does not dissipate, a sealing bag 202 is used to wrap the porous telescopic body and the first magnetic suction element 203, maintaining the air pressure inside the porous telescopic body and maintaining the length of the porous telescopic body. A first vent pipe 205 is connected to the sealing bag 202, allowing gas to be injected into or extracted from the sealing bag 202 through the first vent pipe 205. The sealing bag 202 has a bag opening 204, into which the first vent pipe 205 is inserted and sealed.

[0083] In a preferred implementation of this invention, such as Figures 2-3 As shown, the flexible base 132 is provided with a pipe hole 133; the spherical structure 100 includes:

[0084] Balloon 140 is attached to the flexible base 132;

[0085] The second vent pipe 110 is connected to the balloon 140;

[0086] The second vent pipe 110 is located inside the pipe hole 133.

[0087] Specifically, the flexible base 132 has a pipe hole 133, which is located in the center of the flexible base 132, and multiple mounting positions are arranged around the pipe hole 133. The second vent tube 110 is located inside the pipe hole 133, and can be snapped into the pipe hole 133. For example, the second vent tube 110 is secured with a cable tie 120. The cable tie 120 and the balloon 140 are located on opposite sides of the pipe hole 133, respectively. Due to the obstruction of the cable tie 120 and the balloon 140, the second vent tube 110 cannot be moved out of the pipe hole 133. The cable tie 120 can also secure the second vent tube 110 to prevent the balloon 140 from deflating. The mounting position can be a slot, and the second magnetic member 131 is inserted into the slot to form a detachable connection.

[0088] In a preferred implementation of this invention, such as Figures 2-3 As shown, each connector 130 has 3 or 4 mounting positions.

[0089] Specifically, each flexible base 132 has 3 to 4 mounting positions, and each mounting position can correspond to a telescopic structure 200.

[0090] In a preferred implementation of this invention, such as Figures 2-3 As shown, a connecting part is provided between two adjacent mounting positions. The connecting part is flexible and stretchable. When the relative position of the mounting position and the adjacent mounting position changes, the connecting part between the two mounting positions stretches or contracts. The second magnetic suction member 131 can be rectangular, and the mounting position is also rectangular. The corners of the rectangular mounting positions face the center of the flexible base 132. The connecting part is trapezoidal and connects the sides of two adjacent rectangular mounting positions. All mounting positions and all connecting parts are sequentially connected to form the pipe hole 133.

[0091] Based on the above-described soft robot, the present invention also provides a preferred embodiment of a multi-mode reconfiguration method for a soft robot:

[0092] The multi-mode reconfiguration method for soft robots according to embodiments of the present invention is based on at least two soft robots, which are connected together through multiple modes to achieve the reconfiguration of the soft robots. The multi-mode reconfiguration method includes the following steps:

[0093] Step S100: Determine the reconfiguration mode of the two soft robots.

[0094] Step S200: According to the reconstruction mode, adjust the air pressure of the sealed bag and / or the air pressure of the balloon, and connect the two soft robots to complete the reconstruction.

[0095] Specifically, first determine the reconfiguration mode of the two soft robots to be connected. The reconfiguration mode can be understood as the connection method; different reconfiguration modes result in different configurations for the two soft robots. After determining the reconfiguration mode, connect the two soft robots according to the reconfiguration mode to complete the reconfiguration. During the connection process, it is necessary to adjust the air pressure in the sealed bag and the air pressure in the balloon.

[0096] Reconfiguration modes include magnetic connection and pin connection. In the magnetic connection mode, the connector of one soft robot is magnetically connected to the connector of another soft robot. In the pin connection mode, the spherical structure of one soft robot is inserted into the polyhedral structure of another soft robot. The pin connection mode can be further divided into two specific modes based on the orientation of the two soft robots: a first pin connection mode and a second pin connection mode. In the first pin connection mode, the two soft robots overlap in the insertion direction, meaning one soft robot can overlap with the other by translation. In the second pin connection mode, the two soft robots do not overlap in the insertion direction, meaning one soft robot can overlap with the other by translation and rotation. Different reconfiguration modes are used in different application scenarios. Taking a tetrahedral structure as an example, a tetrahedral structure has 4 vertices and 6 edges. When using a magnetic connection, the spherical structure at one vertex of the soft robot can be contracted to expose the connector, and the two soft robots form a magnetic connection through the exposed connector. When using a pin-type connection, a spherical structure at one vertex of a soft robot is inserted into the polyhedral structure of another soft robot, and the spherical structure inserted into the polyhedral structure cannot be detached, thus forming a pin-type connection between the two soft robots.

[0097] Step S200 specifically includes:

[0098] Step S211: Lower the balloons of the two soft robots respectively to cause the balloons to contract and expose the connectors.

[0099] Step S212: Magnetically connect the exposed connectors in the two soft robots.

[0100] Specifically, such as Figures 5a-5d As shown, when using a magnetic connection, lowering a balloon on the soft robot to be connected causes the balloon to shrink and position itself at the corresponding location of the pipe hole on the connector, exposing the connector (here, "exposed connector" means that the size of the balloon is significantly reduced relative to the size of the connector; the presence of the balloon does not affect the magnetic connection between the two connectors), especially exposing the second magnetic element on the connector. The two soft robots can achieve a magnetic connection through the second magnetic elements on the two exposed connectors. The second magnetic elements on the two soft robots should have opposite polarities to form a strong magnetic connection. If necessary, the installation method of the second magnetic elements can be adjusted to ensure that the polarities of the two second magnetic elements are opposite. Because the flexible base is deformable, when the two exposed connectors are magnetically connected, the flexible base may deform under the magnetic force to allow the two exposed connectors to form a magnetic connection. As shown in the figure, when using a tetrahedral structure, the balloon at one vertex of the tetrahedral structure shrinks (for example, the air pressure inside the balloon decreases to normal pressure), and the balloon at one vertex of the other tetrahedral structure also shrinks (for example, the air pressure inside the balloon decreases to normal pressure). Then, these two vertices of the two tetrahedrals are magnetically connected. After the two tetrahedral structures are magnetically connected, their expansion and contraction structures are staggered; that is, the expansion and contraction structure at the magnetic connection of one tetrahedral structure corresponds to the middle position of the two expansion and contraction structures at the magnetic connection of the other tetrahedral structure.

[0101] Step S200 specifically includes:

[0102] Step S221: Insert the spherical structure of one soft robot into the polyhedral structure of another soft robot, and adjust the two soft robots to overlap.

[0103] Step S222: Increase the air pressure of the spherical structure inserted into the polyhedral structure, and decrease the air pressure of the sealing bags on each side of the insertion port of the polyhedral structure.

[0104] Specifically, such as Figures 6a-6dAs shown, when connecting two soft robots using the first pin-type connection mode, a spherical structure of one soft robot is inserted into the polyhedral structure of the other soft robot. Since the soft robots are polyhedral, polygonal holes are formed in the middle of the polygonal surfaces of the polyhedral structure. The spherical structure of one soft robot is inserted into the polyhedral structure of the other soft robot through the polygonal hole (i.e., the polygonal hole serves as the insertion port). During insertion, the air pressure of the balloon in the spherical structure to be inserted into the soft robot can be reduced, or the telescopic structure of the polygonal hole can be extended. Reducing the air pressure of the balloon can decrease its size, while extending the telescopic structure can increase the size of the polygonal hole, which facilitates the insertion of the spherical structure into the polyhedral structure of the other soft robot.

[0105] After inserting a spherical structure into the polyhedral structure of another soft robot, the soft robots are rotated (either one or both of them) until they overlap. In this overlapping state, the telescopic structure of one soft robot is parallel to the corresponding telescopic structure of the other. Then, the air pressure in the balloon within the inserted spherical structure is increased, making the spherical structure (balloon) larger, while the air pressure in the sealed bags along the sides of the polygonal hole is decreased, shortening the telescopic structures on each side. With the inserted spherical structure being larger and the polygonal hole smaller, the inserted spherical structure cannot detach from the inserted polyhedral structure.

[0106] Step S200 specifically includes:

[0107] Step S231: Insert the spherical structure of one soft robot into the polyhedral structure of another soft robot, and adjust the two soft robots to a non-overlapping state.

[0108] Step S232: Increase the air pressure of the spherical structure inserted into the polyhedral structure, and decrease the air pressure of the sealing bags on each side of the insertion port of the polyhedral structure.

[0109] Specifically, such as Figures 7a-7d As shown, unlike steps S221 and S222, after inserting the spherical structure into the polyhedral structure of another soft robot, the soft robots are rotated (either one or both of the two soft robots can be rotated) so that the two soft robots are in a non-overlapping state. In this non-overlapping state, the telescopic structure of one soft robot is parallel to the corresponding telescopic structure of the other soft robot. For example, the telescopic structure of one soft robot corresponds to the midpoint of the edge of the polygonal hole.

[0110] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multi-mode reconfiguration method for a soft robot, characterized in that, The soft robot has a polyhedral structure and includes: Several spherical structures are located at the vertices of the polyhedral structure; Several telescopic structures are located on the edges of the polyhedral structure; The telescopic structure is movably connected to two spherical structures at both ends. The size of the spherical structure is adjustable; The length of the telescopic structure is adjustable; the spherical structure includes a balloon; the telescopic structure includes a sealing bag. The multi-mode reconstruction method includes the following steps: Determine the reconfiguration mode of the two soft robots; According to the reconstruction mode, the air pressure of the sealed bag and / or the air pressure of the balloon are adjusted, and the two soft robots are connected to complete the reconstruction.

2. The multi-mode reconfiguration method for a soft robot according to claim 1, characterized in that, The number of faces of the polyhedral structure is 4 to 12.

3. The multi-mode reconfiguration method for soft robots according to claim 1, characterized in that, The telescopic structure includes: Expansion body; Two first magnetic suction elements are located at both ends of the telescopic body; The telescopic structure is movably connected to the spherical structure via a connector; the connector includes: A flexible base is attached to the surface of the spherical structure and has several mounting positions. Several second magnetic components are installed in the corresponding mounting positions; The second magnetic component is magnetically connected to the first magnetic component.

4. The multi-mode reconfiguration method for a soft robot according to claim 3, characterized in that, The telescopic body is a porous telescopic body that elongates after absorbing gas; the telescopic structure further includes: The first vent tube is connected to the sealed bag; Both the porous telescopic body and the first magnetic suction element are located inside the sealed bag.

5. The multi-mode reconfiguration method for a soft robot according to claim 4, characterized in that, The flexible base is provided with pipe holes; the spherical structure includes: The second vent tube is connected to the balloon; The second vent pipe is located inside the pipe hole; The balloon rests against the flexible base.

6. The multi-mode reconfiguration method for a soft robot according to claim 5, characterized in that, Each connector has three or four mounting positions.

7. The multi-mode reconfiguration method for a soft robot according to any one of claims 1-6, characterized in that, The reconstruction mode is a magnetic connection mode, in which the connector of one soft robot is magnetically connected to the connector of another soft robot; the step of adjusting the air pressure of the sealed bag and / or the air pressure of the balloon according to the reconstruction mode, and connecting the two soft robots to complete the reconstruction, includes: Reduce the air pressure of the balloons in the two soft robots respectively, so that the balloons contract and expose the connectors; The exposed connectors of the two soft robots are magnetically connected.

8. The multi-mode reconfiguration method for a soft robot according to any one of claims 1-6, characterized in that, The soft robot has a tetrahedral structure, and the reconfiguration mode is a first pin-type connection mode, in which the spherical structure of one soft robot is inserted into the polyhedral structure of another soft robot, and the two soft robots overlap in the insertion direction; the reconfiguration is completed by adjusting the air pressure of the sealed bag and / or the air pressure of the balloon according to the reconfiguration mode, and connecting the two soft robots. Insert the spherical structure of one soft robot into the polyhedral structure of another soft robot, and adjust the two soft robots to overlap. Increase the air pressure of the spherical structure inserted into the polyhedral structure, and decrease the air pressure of the sealing bags on each side of the insertion port of the polyhedral structure.

9. The multi-mode reconfiguration method for a soft robot according to any one of claims 1-6, characterized in that, The soft robot has a tetrahedral structure, and the reconfiguration mode is a second pin-type connection mode. In this pin-type connection mode, the spherical structure of one soft robot is inserted into the polyhedral structure of another soft robot, and the two soft robots do not overlap in the insertion direction. The reconfiguration process involves adjusting the air pressure of the sealed bag and / or the air pressure of the balloon according to the reconfiguration mode to connect the two soft robots, thereby completing the reconfiguration. Insert the spherical structure of one soft robot into the polyhedral structure of another soft robot, and adjust the two soft robots to a non-overlapping state. Increase the air pressure of the spherical structure inserted into the polyhedral structure, and decrease the air pressure of the sealing bags on each side of the insertion port of the polyhedral structure.

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