A tetrahedral soft robot and a multi-gait motion control method thereof

Abstract

The application discloses a reconfigurable tetrahedral soft robot and a multi-gait motion control method thereof. The reconfigurable tetrahedral soft robot comprises a first tetrahedral soft robot and a second tetrahedral soft robot. The first tetrahedral soft robot and the second tetrahedral soft robot each comprise four variable friction modules and six telescopic modules. Two ends of the telescopic module are movably connected with two variable friction modules, and the length of the telescopic module is adjustable. The variable friction module is used for adjusting the size of the variable friction module to change the friction force of other variable friction modules on the ground. The reconfigurable tetrahedral soft robot can be controlled to move forward or backward. During the movement of the reconfigurable tetrahedral soft robot, the size of each variable friction module is continuously adjusted, so that the pressure of other variable friction modules on the ground is reduced, and the friction force of the variable friction modules on the ground is reduced when the variable friction modules slide relative to the ground, so as to control the movement of the reconfigurable tetrahedral soft robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and particularly relates to a reconfigurable tetrahedron soft robot and a reconfiguration method thereof. BACKGROUND

[0002] Robots can be widely used in manufacturing, aerospace, extreme environment operation, food and drug packaging industry, etc. according to task requirements and environmental changes. In the prior art, the patent document with the publication number CN102672716A discloses a multi-polyhedron closed triangle mechanism and all the rod members of the connecting rod part are telescopic rods. When the robot is reconfigured, the corresponding rod members can be extended or retracted by a corresponding length according to different configurations, but the movement of the reconfigured robot cannot be realized.

[0003] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0004] The present application solves the technical problem of the prior art, and provides a reconfigurable tetrahedron soft robot and a multi-gait motion control method thereof, aiming at solving the problem that the movement of the reconfigured robot cannot be realized in the prior art.

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

[0006] A reconfigurable tetrahedron soft robot, wherein the reconfigurable tetrahedron soft robot comprises a first tetrahedron soft robot and a second tetrahedron soft robot; the first tetrahedron soft robot and the second tetrahedron soft robot each comprise:

[0007] four variable friction modules, respectively located at the vertices of the tetrahedron;

[0008] six telescopic modules, respectively located at the edges of the tetrahedron;

[0009] wherein the two ends of the telescopic module are movably connected with two variable friction modules, and the length of the telescopic module is adjustable;

[0010] the first variable friction module of the second tetrahedron soft robot is located in the tetrahedron of the first tetrahedron soft robot, the second variable friction module of the second tetrahedron soft robot and the first, third and fourth variable friction modules of the first tetrahedron soft robot contact the ground, and the third and fourth variable friction modules of the second tetrahedron soft robot and the second variable friction module of the first tetrahedron soft robot are suspended;

[0011] the variable friction module is used to adjust the size of the variable friction module to change the friction force of other variable friction modules on the ground.

[0012] The reconfigurable tetrahedral soft robot, wherein the telescopic module comprises:

[0013] A sponge module;

[0014] Two first magnets respectively located at two ends of the sponge module;

[0015] The telescopic module is movably connected with the variable friction module through a connecting module; the connecting module comprises:

[0016] A flexible seat attached to a surface of the variable friction module and provided with a plurality of accommodation positions;

[0017] A plurality of second magnets installed in the corresponding accommodation positions;

[0018] The second magnets are magnetically connected with the first magnets.

[0019] The reconfigurable tetrahedral soft robot, wherein the sponge module is a porous sponge module, the porous sponge module becomes longer after absorbing gas; the telescopic module further comprises:

[0020] An outer package, the porous sponge module and the first magnets are located in the outer package;

[0021] A first gas pipe in communication with the outer package.

[0022] The reconfigurable tetrahedral soft robot, wherein the flexible seat is provided with a pipe opening; the variable friction module comprises:

[0023] A balloon attached to the flexible seat;

[0024] A second gas pipe in communication with the balloon;

[0025] The second gas pipe is located in the pipe opening.

[0026] A multi-gait motion control method of a reconfigurable tetrahedral soft robot, wherein the method is applied to the reconfigurable tetrahedral soft robot as claimed in any one of the preceding claims, and the multi-gait motion control method comprises the following steps:

[0027] Determining a motion mode of the reconfigurable tetrahedral soft robot;

[0028] Adjusting the size of the variable friction module and / or the length of the telescopic module according to the motion mode to complete the motion of the reconfigurable tetrahedral soft robot.

[0029] The multi-gait motion control method of the reconfigurable tetrahedral soft robot, wherein the motion mode is a peristaltic walking mode; and the size of the variable friction module and / or the length of the telescopic module are adjusted according to the motion mode to complete the motion of the reconfigurable tetrahedral soft robot, comprising:

[0030] increasing the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot to reduce the ground pressure of the second variable friction module in the second tetrahedral soft robot;

[0031] shortening the telescopic module of the second tetrahedral soft robot to reduce the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot;

[0032] increasing the size of the first variable friction module of the first tetrahedral soft robot and restoring the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot to reduce the ground pressure of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot;

[0033] restoring the telescopic module of the second tetrahedral soft robot to increase the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot, and shortening the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot;

[0034] restoring the size of the first variable friction module of the first tetrahedral soft robot and restoring the telescopic module of the first tetrahedral soft robot to restore the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot;

[0035] continuing to perform the step of increasing the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot to reduce the ground pressure of the second variable friction module in the second tetrahedral soft robot until the motion of the reconfigurable tetrahedral soft robot is completed.

[0036] The multi-gait motion control method of the reconfigurable tetrahedral soft robot, wherein the shortening of the telescopic module of the second tetrahedral soft robot to reduce the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot comprises:

[0037] shortening the telescopic module between the first variable friction module and the second variable friction module in the second tetrahedral soft robot.

[0038] The multi-gait motion control method for reconstructing a tetrahedral soft robot, wherein shortening the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot includes:

[0039] The telescopic module that shortens the distance between the first variable friction module and the third variable friction module in the first tetrahedral soft robot, and the telescopic module that shortens the distance between the first variable friction module and the fourth variable friction module in the first tetrahedral soft robot.

[0040] The multi-gait motion control method for the reconstructed tetrahedral soft robot, wherein the motion mode is a first tumbling motion mode; and the step of adjusting the size of the variable friction module and / or the length of the telescopic module according to the motion mode to complete the motion of the reconstructed tetrahedral soft robot includes:

[0041] After increasing the preset time of the third variable friction module in the first tetrahedral soft robot, the third variable friction module in the second tetrahedral soft robot is increased so that after the third variable friction module in the first tetrahedral soft robot leaves the ground, the third variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the third variable friction module in both the first and second tetrahedral soft robots is restored.

[0042] After increasing the preset time of the second variable friction module in the second tetrahedral soft robot, the second variable friction module in the first tetrahedral soft robot is increased so that after the second variable friction module in the second tetrahedral soft robot leaves the ground, the second variable friction module in the first tetrahedral soft robot contacts the ground, and the sizes of the second variable friction module in the second tetrahedral soft robot and the second variable friction module in the first tetrahedral soft robot are restored.

[0043] After increasing the preset time of the fourth variable friction module in the first tetrahedral soft robot, the fourth variable friction module in the second tetrahedral soft robot is increased so that after the fourth variable friction module in the first tetrahedral soft robot leaves the ground, the fourth variable friction module in the second tetrahedral soft robot contacts the ground, and the sizes of the fourth variable friction modules in both the first and second tetrahedral soft robots are restored.

[0044] increasing the third variable friction module in the second tetrahedron soft robot after the preset time, so that the third variable friction module in the second tetrahedron soft robot contacts the ground after the third variable friction module in the first tetrahedron soft robot leaves the ground, and the size of the third variable friction module in the second tetrahedron soft robot and the third variable friction module in the first tetrahedron soft robot is restored;

[0045] increasing the second variable friction module in the first tetrahedron soft robot after the preset time, so that the second variable friction module in the second tetrahedron soft robot contacts the ground after the second variable friction module in the first tetrahedron soft robot leaves the ground, and the size of the second variable friction module in the first tetrahedron soft robot and the second variable friction module in the second tetrahedron soft robot is restored;

[0046] increasing the fourth variable friction module in the first tetrahedron soft robot after the preset time, so that the fourth variable friction module in the second tetrahedron soft robot contacts the ground after the fourth variable friction module in the first tetrahedron soft robot leaves the ground, and the size of the fourth variable friction module in the second tetrahedron soft robot and the fourth variable friction module in the first tetrahedron soft robot is restored;

[0047] continuing to increase the third variable friction module in the second tetrahedron soft robot after the preset time, so that the third variable friction module in the second tetrahedron soft robot contacts the ground after the third variable friction module in the first tetrahedron soft robot leaves the ground, and the size of the third variable friction module in the first tetrahedron soft robot and the third variable friction module in the second tetrahedron soft robot is restored, until the movement of the reconstructed tetrahedron soft robot is completed.

[0048] The multi-gait movement control method of the reconstructed tetrahedron soft robot, wherein the movement mode is a second rolling movement mode; and the size of the variable friction module and / or the length of the telescopic module are adjusted according to the movement mode to complete the movement of the reconstructed tetrahedron soft robot, comprising:

[0049] After increasing the fourth variable friction module in the first tetrahedral soft robot by a preset time, the second variable friction module in the second tetrahedral soft robot is increased, so that after the fourth variable friction module in the second tetrahedral soft robot is separated from the ground, the fourth variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the second tetrahedral soft robot and the fourth variable friction module in the first tetrahedral soft robot is restored;

[0050] After increasing the second variable friction module in the second tetrahedral soft robot by a preset time, the second variable friction module in the first tetrahedral soft robot is increased, so that after the second variable friction module in the first tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the second tetrahedral soft robot and the second variable friction module in the first tetrahedral soft robot is restored;

[0051] After increasing the third variable friction module in the first tetrahedral soft robot by a preset time, the third variable friction module in the second tetrahedral soft robot is increased, so that after the third variable friction module in the first tetrahedral soft robot is separated from the ground, the third variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the first tetrahedral soft robot and the third variable friction module in the second tetrahedral soft robot is restored;

[0052] After increasing the fourth variable friction module in the second tetrahedral soft robot, the fourth variable friction module in the first tetrahedral soft robot is increased by a preset time, so that after the fourth variable friction module in the second tetrahedral soft robot is separated from the ground, the fourth variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the second tetrahedral soft robot and the fourth variable friction module in the first tetrahedral soft robot is restored;

[0053] After increasing the second variable friction module in the first tetrahedral soft robot by a preset time, the second variable friction module in the second tetrahedral soft robot is increased, so that after the second variable friction module in the first tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the first tetrahedral soft robot and the second variable friction module in the second tetrahedral soft robot is restored;

[0054] After the third variable friction module in the second tetrahedron soft robot is increased in size for a preset time, the third variable friction module in the first tetrahedron soft robot is increased in size, so that after the third variable friction module in the second tetrahedron soft robot is separated from the ground, the third variable friction module in the first tetrahedron soft robot contacts the ground, and the size of the third variable friction module in the second tetrahedron soft robot and the third variable friction module in the first tetrahedron soft robot is restored.

[0055] The step of continuously increasing the size of the fourth variable friction module in the first tetrahedron soft robot for a preset time, increasing the size of the fourth variable friction module in the second tetrahedron soft robot, so that after the fourth variable friction module in the first tetrahedron soft robot is separated from the ground, the fourth variable friction module in the second tetrahedron soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedron soft robot and the fourth variable friction module in the second tetrahedron soft robot is restored, until the movement of the reconstructed tetrahedron soft robot is completed, is continued.

[0056] Beneficial effects: The reconstructed tetrahedron soft robot can be controlled to move, and can move forward or backward. During the movement of the reconstructed tetrahedron soft robot, the size of each variable friction module is continuously adjusted, thereby reducing the pressure of other variable friction modules on the ground, and reducing the frictional force on the ground when these variable friction modules slide relative to the ground, so as to control the movement of the reconstructed tetrahedron soft robot. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 is a structural schematic diagram of a reconstructed tetrahedron soft robot in an embodiment of the present application.

[0058] Figure 2 is a structural schematic diagram of a connection module and a variable friction module in an embodiment of the present application.

[0059] Figure 3 is a structural schematic diagram of a connection module in an embodiment of the present application.

[0060] Figure 4 is a structural schematic diagram of a telescopic module in an embodiment of the present application.

[0061] Explanation of reference signs:

[0062] 110, second air pipe; 120, strap; 130, connection module; 131, second magnet; 132, flexible seat; 133, pipe opening; 140, balloon; 201, sponge module; 202, outer package; 203, first magnet; 204, bag opening; 205, first air pipe; 11, first variable friction module; 12, second variable friction module; 13, third variable friction module; 14, fourth variable friction module; 15, fourth variable friction module; 16, third variable friction module; 17, second variable friction module; 21, second telescopic module; 22, third telescopic module; 23, first telescopic module. DETAILED DESCRIPTION

[0063] In order to make the objects, technical solutions and advantages of the present application clearer and more apparent, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not used to limit the present application.

[0064] Please refer to Figures 1-4 , some embodiments of a reconfigurable tetrahedral soft robot are provided.

[0065] As Figure 1 shown, a reconfigurable tetrahedral soft robot of the present application includes two tetrahedral soft robots, respectively denoted as a first tetrahedral soft robot and a second tetrahedral soft robot, and the tetrahedral soft robot is in a tetrahedron shape, which includes:

[0066] four variable friction modules located at the vertices of the polyhedron;

[0067] six telescopic modules located at the edges of the polyhedron;

[0068] wherein the two ends of the telescopic module are respectively connected with two variable friction modules; the length of the telescopic module is adjustable;

[0069] The first variable friction module of the second tetrahedral soft robot is located in the tetrahedron of the first tetrahedral soft robot, the second variable friction module 17 of the second tetrahedral soft robot and the first variable friction module 11, the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedral soft robot are in contact with the ground, and the third variable friction module 16 and the fourth variable friction module 15 of the second tetrahedral soft robot and the second variable friction module 12 of the first tetrahedral soft robot are in suspension;

[0070] The variable friction module is used to adjust the size of the variable friction module to change the friction of other variable friction modules on the ground.

[0071] It is worth mentioning that the polyhedron refers to a solid surrounded by four or more polygons, and the polygon refers to a closed figure composed of three or more line segments connected in order. The variable friction module refers to a structure that can adjust the friction force received by other variable friction modules, and the size of the variable friction module can be adjusted. The telescopic module refers to a structure with a telescopic length, and the telescopic module adjusts the length to change the distance between the variable friction modules at both ends of the telescopic module. The variable friction module is located at the vertex of the polyhedral structure, the telescopic module serves as the edge of the polyhedral structure, and the variable friction module is movably connected at both ends of the telescopic module. The polygonal surface of the polyhedral structure is hollow, and after the variable friction module is reduced or the telescopic module is extended, the variable friction module can be inserted into the polyhedral structure of the reconstructed tetrahedral soft robot. Since the variable friction module can be enlarged and the telescopic module can be shortened, the variable friction module inserted into the polyhedral structure is restrained, and the variable friction module cannot be separated from the polyhedral structure, thereby obtaining the reconstructed tetrahedral soft robot.

[0072] In the initial state, the tetrahedral soft robot with three variable friction modules contacting the ground is referred to as the first tetrahedral soft robot, and the tetrahedral soft robot with one variable friction module contacting the ground is referred to as the second tetrahedral soft robot. One end of the first tetrahedral soft robot is referred to as the front end, and one end of the second tetrahedral soft robot is referred to as the rear end. The reconstructed tetrahedral soft robot can be controlled to move, specifically, it can move forward or backward. During the movement of the reconstructed tetrahedral soft robot, the size of each variable friction module is continuously adjusted, thereby reducing the pressure of other variable friction modules on the ground, and thereby reducing the ground friction force received by these variable friction modules when they slide relative to the ground, so as to control the movement of the reconstructed tetrahedral soft robot.

[0073] For example, when the sizes of the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedral soft robot are increased, the first variable friction module 13 of the first tetrahedral soft robot will move slightly forward, and the second variable friction module 17 of the second tetrahedral soft robot will be slightly lifted upward (or the second variable friction module 17 of the second tetrahedral soft robot can be lifted to be separated from the ground), thereby reducing the pressure of the second variable friction module 17 of the second tetrahedral soft robot on the ground. When the telescopic module of the second tetrahedral soft robot is telescoped, the sliding friction force received by the second variable friction module 17 of the second tetrahedral soft robot on the ground will be reduced.

[0074] For example, when the size of the first variable friction module 11 of the first tetrahedron soft robot is increased, the pressure of the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedron soft robot on the ground is reduced, and when the telescopic module of the second tetrahedron soft robot is telescoped, the sliding friction force of the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedron soft robot on the ground is reduced.

[0075] In a preferred implementation form of the embodiment of the present application, as shown in Figure 1 and Figure 4 the telescopic module comprises:

[0076] a sponge module 201;

[0077] two first magnets 203, respectively located at two ends of the sponge module 201.

[0078] Specifically, the sponge module 201 can be telescoped to adjust the length of the telescopic module. The first magnets 203 are used for magnetic attraction connection with other components, and the first magnets 203 can be connected at the two ends of the sponge module 201.

[0079] In a preferred implementation form of the embodiment of the present application, as shown in Figures 1-3 the telescopic module is movably connected with the variable friction module through a connecting module 130; and the connecting module 130 comprises:

[0080] a flexible seat 132 attached to the surface of the variable friction module and provided with a plurality of accommodation positions;

[0081] a plurality of second magnets 131 installed in the corresponding accommodation positions;

[0082] The second magnets 131 are magnetically attracted to the first magnets 203.

[0083] Specifically, the flexible seat 132 is flexible and can be deformed. After the telescopic module is telescoped, the included angle between the telescopic module and the adjacent telescopic module changes, so that the flexible seat 132 deforms to adjust the position of the accommodation position and adapt to the change of the telescopic module. The second magnets 131 are magnetically attracted to the first magnets 203. The magnets can be a component with magnetism or a component magnetically attracted by a component with magnetism. For example, the two magnets can be a magnet component and an iron component, or two magnet components. The second magnets 131 are components with magnetism, for example, magnet components.

[0084] In a preferred implementation form of the embodiment of the present application, as shown in Figure 1 and Figure 4 the sponge module 201 is a porous sponge module, and the porous sponge module becomes longer after absorbing gas.

[0085] Specifically, the sponge module 201 is a porous sponge module with a porous structure inside. Gas (such as air) can be filled into the porous structure, which will cause the porous sponge module to elongate; after the gas is extracted from the porous structure, the porous sponge module will shorten.

[0086] In a preferred implementation of this invention, such as Figure 1 and Figure 4 As shown, the telescopic module further includes:

[0087] The outer packaging 202 contains both the porous sponge module and the first magnet 203.

[0088] The first gas supply pipe 205 is connected to the outer packaging 202.

[0089] Specifically, to ensure that the air inside the porous sponge module does not dissipate, an outer packaging 202 is used to wrap the porous sponge module and the first magnet 203, maintaining the air pressure inside the porous sponge module and maintaining the length of the porous sponge module. A first air supply pipe 205 is connected to the outer packaging 202, allowing gas to be injected into or extracted from the outer packaging 202 through the first air supply pipe 205. The outer packaging 202 has a bag opening 204, into which the first air supply pipe 205 is inserted and sealed.

[0090] In a preferred implementation of this invention, such as Figures 2-3 As shown, the flexible seat 132 is provided with a pipe opening 133; the variable friction module includes:

[0091] Balloon 140 is attached to the flexible seat 132;

[0092] The second gas supply pipe 110 is connected to the balloon 140;

[0093] The second gas supply pipe 110 is located inside the pipe opening 133.

[0094] Specifically, the flexible base 132 is provided with a pipe opening 133, specifically located in the center of the flexible base 132, with multiple placement positions arranged around the pipe opening 133. The second air supply pipe 110 is located inside the pipe opening 133, and can be snapped into place within the pipe opening 133. For example, the second air supply pipe 110 can be secured with a cable tie 120. The cable tie 120 and the balloon 140 are located on opposite sides of the pipe opening 133, respectively. Due to the obstruction of the cable tie 120 and the balloon 140, the second air supply pipe 110 cannot be moved out of the pipe opening 133. The cable tie 120 can also secure the second air supply pipe 110 to prevent the balloon 140 from deflating. The placement positions can be slots, into which the second magnet 131 is inserted to form a detachable connection.

[0095] In a preferred implementation of the embodiment of the present application, as shown in Figures 2-3 In each connection module 130, there are 3 installation sites.

[0096] Specifically, each flexible seat 132 has 3 installation sites, and each installation site can correspond to one telescopic module.

[0097] In a preferred implementation of the embodiment of the present application, as shown in Figures 2-3 The connection part is flexible and can be stretched, and when the relative positions of the installation sites and the adjacent installation sites change, the connection part between the two installation sites stretches or shrinks. The second magnet 131 can be rectangular, and the installation site is also rectangular. The corners of the rectangular installation site face the center of the flexible seat 132, the connection part is trapezoidal, and connects the edges of the adjacent two rectangular installation sites. All installation sites and all connection parts are sequentially connected to form a pipeline port 133.

[0098] Based on the above-mentioned reconfigurable tetrahedral soft robot, the present application further provides a preferred embodiment of a multi-gait motion control method of a reconfigurable tetrahedral soft robot:

[0099] As shown in Figure 1 The multi-gait motion control method of the reconfigurable tetrahedral soft robot of the embodiment of the present application is based on the reconfigurable tetrahedral soft robot, and controls the motion of the reconfigurable tetrahedral soft robot through multiple motion modes. The multi-gait motion control method includes the following steps:

[0100] Step S100, determining the motion mode of the reconfigurable tetrahedral soft robot.

[0101] Step S200, adjusting the size of the variable friction module and / or the length of the telescopic module according to the motion mode, to complete the motion of the reconfigurable tetrahedral soft robot.

[0102] Specifically, the motion mode of the reconfigurable tetrahedral soft robot is first determined, where the motion mode can be understood as a motion mode, which can be peristalsis walking, for example, or rolling. Different motion modes form different forms of motion of the reconfigurable tetrahedral soft robot. After the motion mode is determined, the size of the variable friction module and / or the length of the telescopic module are adjusted according to the motion mode to complete the motion of the reconfigurable tetrahedral soft robot. During the motion, the air pressure of the outer package may need to be adjusted, and the air pressure of the balloon may need to be adjusted.

[0103] The motion mode includes peristalsis walking mode and rolling motion mode; the peristalsis walking mode can be forward peristalsis or backward peristalsis, and the rolling motion mode can be right rolling or left rolling, which are respectively denoted as first rolling motion mode and second rolling motion mode. As shown in Figure 1As shown, the tetrahedral soft robot with three variable friction modules contacting the ground is a first tetrahedral soft robot, and the tetrahedral soft robot with one variable friction module contacting the ground is a second tetrahedral soft robot. For the convenience of description, the variable friction modules and the telescopic modules in the reconfigurable tetrahedral soft robot are distinguished as follows: in the first tetrahedral soft robot, the first variable friction module 11 (i.e., the variable friction module located on the ground and far away from the second tetrahedral soft robot), the second variable friction module 12 (i.e., the variable friction module suspended in the air), the third variable friction module 13 (i.e., the variable friction module located on the ground and on the left side in the forward direction), the fourth variable friction module 14 (i.e., the variable friction module located on the ground and on the right side in the forward direction), the first telescopic module (i.e., the telescopic module connecting the first variable friction module 11 and the second variable friction module 12), the second telescopic module 21 (i.e., the telescopic module connecting the first variable friction module 11 and the third variable friction module 13), the third telescopic module 22 (i.e., the telescopic module connecting the first variable friction module 11 and the fourth variable friction module 14), the fourth telescopic module (i.e., the telescopic module connecting the second variable friction module 12 and the third variable friction module 13), the fifth telescopic module (i.e., the telescopic module connecting the second variable friction module 12 and the fourth variable friction module 14), and the sixth telescopic module (i.e., the telescopic module connecting the third variable friction module 13 and the fourth variable friction module 14). In the second tetrahedral soft robot, the first variable friction module (i.e., the variable friction module located in the second tetrahedral soft robot), the second variable friction module 17 (i.e., the variable friction module located on the ground), the third variable friction module 16 (i.e., the variable friction module suspended in the air and on the right side in the forward direction), the fourth variable friction module 15 (i.e., the variable friction module suspended in the air and on the left side in the forward direction), the first telescopic module 23 (i.e., the telescopic module connecting the first variable friction module and the second variable friction module 17), the second telescopic module (i.e., the telescopic module connecting the first variable friction module and the third variable friction module 16), the third telescopic module (i.e., the telescopic module connecting the first variable friction module and the fourth variable friction module 15), the fourth telescopic module (i.e., the telescopic module connecting the second variable friction module 17 and the third variable friction module 16), the fifth telescopic module (i.e., the telescopic module connecting the second variable friction module 17 and the fourth variable friction module 15), and the sixth telescopic module (i.e., the telescopic module connecting the third variable friction module 16 and the fourth variable friction module 15). The two tetrahedral soft robots are identical in structure, and the third variable friction module 13 in the first tetrahedral soft robot and the fourth variable friction module 16 in the second tetrahedral soft robot are located on the same side of the line connecting the first variable friction module 11 in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot.

[0104] When the peristaltic walking mode is forward peristalsis, step S200 specifically comprises:

[0105] Step S211, increase the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot to reduce the ground pressure of the second variable friction module in the second tetrahedral soft robot.

[0106] Step S212, shorten the telescopic module of the second tetrahedral soft robot to reduce the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot.

[0107] Step S213, increase the size of the first variable friction module of the first tetrahedral soft robot, and restore the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot to reduce the ground pressure of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot.

[0108] Step S214, restore the telescopic module of the second tetrahedral soft robot to increase the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot, and shorten the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot.

[0109] Step S215, restore the size of the first variable friction module of the first tetrahedral soft robot, and restore the telescopic module of the first tetrahedral soft robot to restore the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot.

[0110] Step S216, continue to perform the step of increasing the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot to reduce the ground pressure of the second variable friction module in the second tetrahedral soft robot until the reconstruction of the motion of the tetrahedral soft robot is completed.

[0111] Specifically, after the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedron soft robot are enlarged, the pressure of the first variable friction module 11 of the first tetrahedron soft robot on the ground is reduced, and the telescopic module (such as the first telescopic module 23) of the second tetrahedron soft robot is shortened. When the distance between the first variable friction module and the second variable friction module 17 of the second tetrahedron soft robot is shortened, the center of gravity of the reconstructed polyhedral soft robot is close to the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedron soft robot. The third variable friction module 13 and the fourth variable friction module 14 do not move, and the second variable friction module 17 of the second tetrahedron soft robot moves forward (i.e., moves towards the first tetrahedron soft robot).

[0112] Then the size of the first variable friction module 11 of the first tetrahedron soft robot is increased, and the size of the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedron soft robot is restored. The first variable friction module 11 of the first tetrahedron soft robot and the second variable friction module 17 of the second tetrahedron soft robot mainly support the reconstructed tetrahedron soft robot, the third variable friction module 13 and the fourth variable friction module 14 of the first tetrahedron soft robot play a supporting role (one of them may be suspended and not in contact with the ground), and the pressure of the third variable friction module 13 and the fourth variable friction module 14 on the ground is reduced. When the telescopic module (such as the first telescopic module 23) of the second tetrahedron soft robot is restored and the telescopic module (such as the second telescopic module 21 and the third telescopic module 22) of the first tetrahedron soft robot is shortened, the third variable friction module 13 and the fourth variable friction module 14 move forward (i.e., move away from the second variable friction module 17). Finally, the size of the first variable friction module of the first tetrahedron soft robot is restored, and the telescopic module of the first tetrahedron soft robot is restored to complete a step of forward peristaltic walking. When the telescopic module of the first tetrahedron soft robot is restored, the center of gravity of the reconstructed polyhedral soft robot is close to the third variable friction module 13 and the fourth variable friction module 14, the third variable friction module 13 and the fourth variable friction module 14 do not move, and the first variable friction module 11 of the first tetrahedron soft robot moves forward. Repeating steps S211-S215 can peristaltically walk multiple steps until a preset condition is met to complete the movement of the reconstructed tetrahedron soft robot. The preset condition can be a preset movement time, a preset movement distance, or a preset number of steps, etc.

[0113] Step S212 specifically includes:

[0114] Step S2121, shorten the telescopic module between the first variable friction module and the second variable friction module of the second tetrahedron soft robot.

[0115] Specifically, when shortening the telescopic module of the second tetrahedral soft robot, the telescopic module between the first variable friction module and the second variable friction module 17 in the second tetrahedral soft robot, i.e., the first telescopic module 23, can be shortened.

[0116] Step S214 specifically includes:

[0117] Step S2141, restoring the telescopic module between the first variable friction module and the second variable friction module in the second tetrahedral soft robot.

[0118] Step S2142, shortening the telescopic module between the first variable friction module and the third variable friction module in the first tetrahedral soft robot, and shortening the telescopic module between the first variable friction module and the fourth variable friction module in the first tetrahedral soft robot.

[0119] Specifically, when restoring the telescopic module of the second tetrahedral soft robot, the telescopic module between the first variable friction module and the second variable friction module 17 in the second tetrahedral soft robot, i.e., the first telescopic module 23, can be restored. Specifically corresponding to step S2121, the length of the telescopic module of the second tetrahedral soft robot is restored. When shortening the telescopic module of the first tetrahedral soft robot, the telescopic module between the first variable friction module and the third variable friction module 13 in the first tetrahedral soft robot, i.e., the second telescopic module 21, can be shortened. And the telescopic module between the first variable friction module and the fourth variable friction module 14 in the first tetrahedral soft robot, i.e., the third telescopic module 22, can be shortened. Restoring the telescopic module of the second tetrahedral soft robot and shortening the telescopic module of the first tetrahedral soft robot can be performed simultaneously, or the telescopic module of the second tetrahedral soft robot can be restored first (i.e., the length of the first telescopic module 23 is restored), and then the telescopic module of the first tetrahedral soft robot is shortened (i.e., the second telescopic module 21 and the third telescopic module 22 are shortened, and the second telescopic module 21 and the third telescopic module 22 are shortened together).

[0120] Step S215 specifically includes:

[0121] Step S2151, restoring the telescopic module between the first variable friction module and the third variable friction module in the first tetrahedral soft robot, and restoring the telescopic module between the first variable friction module and the fourth variable friction module in the first tetrahedral soft robot.

[0122] Specifically, when restoring the telescopic module of the first tetrahedral soft robot, the telescopic module between the first variable friction module and the third variable friction module 13 in the first tetrahedral soft robot, i.e., the second telescopic module 21, can be restored. And the telescopic module between the first variable friction module and the fourth variable friction module 14 in the first tetrahedral soft robot, i.e., the third telescopic module 22, is restored. The second telescopic module 21 and the third telescopic module 22 are restored together. Specifically corresponding to step S2142, the length of the telescopic module of the first tetrahedral soft robot is restored.

[0123] When the peristaltic walking mode is backward peristalsis, step S200 specifically includes:

[0124] Step S221, shortening the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot.

[0125] Step S222, increasing the size of the first variable friction module of the first tetrahedral soft robot to reduce the pressure of the third variable friction module and the fourth variable friction module on the ground in the first tetrahedral soft robot.

[0126] Step S223, restoring the telescopic module of the first tetrahedral soft robot to restore the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot, and shortening the telescopic module of the second tetrahedral soft robot to shorten the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot.

[0127] Step S224, increasing the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot, and restoring the size of the first variable friction module of the first tetrahedral soft robot.

[0128] Step S225, restoring the telescopic module of the second tetrahedral soft robot to restore the distance between the first variable friction module and the second variable friction module in the second tetrahedral soft robot.

[0129] Step S226, restoring the size of the third variable friction module and the fourth variable friction module in the first tetrahedral soft robot.

[0130] Step S227, continue to perform the step of shortening the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module in the first tetrahedral soft robot and the first variable friction module in the second tetrahedral soft robot until the reconstruction of the motion of the tetrahedral soft robot is completed.

[0131] Specifically, when the peristaltic walking mode is backward peristalsis, contrary to the action when peristalsis is forward, first shorten the telescopic module of the first tetrahedral soft robot, so that the first variable friction module 11 of the first tetrahedral soft robot moves backward, then increase the size of the first variable friction module 11 of the first tetrahedral soft robot, and then restore the telescopic module of the first tetrahedral soft robot, and shorten the telescopic module of the second tetrahedral soft robot, the third variable friction module 13 and the fourth variable friction module 14 will move backward (i.e. move towards the direction of the second variable friction module 17). Then increase the size of the third variable friction module 13 and the fourth variable friction module 14 in the first tetrahedral soft robot, and restore the telescopic module of the second tetrahedral soft robot, so that the first variable friction module 17 moves backward. Finally, restore the size of the third variable friction module 13 and the fourth variable friction module 14 in the first tetrahedral soft robot, complete a step of backward peristaltic walking, repeat steps S221-S226 to walk peristaltically for multiple steps, until the preset condition is met, complete the motion of the reconstructed tetrahedral soft robot. The preset condition can be a preset motion time, and can also be a preset motion distance, or a preset number of steps, etc.

[0132] When the motion mode is the first rolling motion mode, step S200 specifically includes:

[0133] Step S231, after increasing the size of the third variable friction module in the first tetrahedral soft robot for a preset time, increase the size of the third variable friction module in the second tetrahedral soft robot, so that after the third variable friction module in the second tetrahedral soft robot contacts the ground, the size of the third variable friction module in the first tetrahedral soft robot and the third variable friction module in the second tetrahedral soft robot is restored.

[0134] Step S232, after increasing the size of the second variable friction module in the second tetrahedral soft robot for a preset time, increase the size of the second variable friction module in the first tetrahedral soft robot, so that after the second variable friction module in the second tetrahedral soft robot contacts the ground, the size of the second variable friction module in the second tetrahedral soft robot and the second variable friction module in the first tetrahedral soft robot is restored.

[0135] Step S233, after increasing the fourth variable friction module in the first tetrahedron soft robot by a preset time, the fourth variable friction module in the second tetrahedron soft robot is increased, so that after the fourth variable friction module in the first tetrahedron soft robot is separated from the ground, the fourth variable friction module in the second tetrahedron soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedron soft robot and the fourth variable friction module in the second tetrahedron soft robot is restored.

[0136] Step S234, after increasing the third variable friction module in the second tetrahedron soft robot, the third variable friction module in the first tetrahedron soft robot is increased by a preset time, so that after the third variable friction module in the second tetrahedron soft robot is separated from the ground, the third variable friction module in the first tetrahedron soft robot contacts the ground, and the size of the third variable friction module in the second tetrahedron soft robot and the third variable friction module in the first tetrahedron soft robot is restored.

[0137] Step S235, after increasing the second variable friction module in the first tetrahedron soft robot by a preset time, the second variable friction module in the second tetrahedron soft robot is increased, so that after the second variable friction module in the first tetrahedron soft robot is separated from the ground, the second variable friction module in the second tetrahedron soft robot contacts the ground, and the size of the second variable friction module in the first tetrahedron soft robot and the second variable friction module in the second tetrahedron soft robot is restored.

[0138] Step S236, after increasing the fourth variable friction module in the second tetrahedron soft robot by a preset time, the fourth variable friction module in the first tetrahedron soft robot is increased, so that after the fourth variable friction module in the second tetrahedron soft robot is separated from the ground, the fourth variable friction module in the first tetrahedron soft robot contacts the ground, and the size of the fourth variable friction module in the second tetrahedron soft robot and the fourth variable friction module in the first tetrahedron soft robot is restored.

[0139] Step S237, continue to execute the step of increasing the third variable friction module in the second tetrahedron soft robot after increasing the third variable friction module in the first tetrahedron soft robot by a preset time, so that after the third variable friction module in the first tetrahedron soft robot is separated from the ground, the third variable friction module in the second tetrahedron soft robot contacts the ground, and the size of the third variable friction module in the first tetrahedron soft robot and the third variable friction module in the second tetrahedron soft robot is restored, until the motion of the reconstructed tetrahedron soft robot is completed.

[0140] Specifically, after the third variable friction module 13 in the first tetrahedron soft robot is increased, the reconfigured tetrahedron soft robot tilts to the right, the third variable friction module 16 in the second tetrahedron soft robot moves downward and tends to approach the ground, and the third variable friction module 16 in the second tetrahedron soft robot needs to be increased after the third variable friction module 13 is increased, so that the third variable friction module 13 is separated from the ground, and the third variable friction module 16 contacts the ground more stably. After the third variable friction module 13 is separated from the ground, the size of the third variable friction module 13 and the third variable friction module 16 is restored. At this time, the fourth variable friction module 14 in the first tetrahedron soft robot contacts the ground, the second variable friction module 17 and the third variable friction module 16 in the second tetrahedron soft robot contact the ground, and one step of rolling to the right is realized.

[0141] Then, after the second variable friction module 17 in the second tetrahedron soft robot is increased, the reconfigured tetrahedron soft robot continues to tilt to the right, the second variable friction module 12 in the first tetrahedron soft robot moves downward and tends to approach the ground, and the second variable friction module 12 in the first tetrahedron soft robot needs to be increased after the second variable friction module 17 is increased. And after the second variable friction module 17 is separated from the ground, the size of the second variable friction module 17 and the second variable friction module 12 is restored. At this time, the first variable friction module 11, the second variable friction module 12 and the fourth variable friction module 14 in the first tetrahedron soft robot contact the ground, and the third variable friction module 16 in the second tetrahedron soft robot contacts the ground, and one step of rolling to the right is realized again.

[0142] Then, one step of rolling to the right is continued, and 360° of rolling to the right can be realized until a preset condition is met, and the movement of the reconfigured tetrahedron soft robot is completed. The preset condition can be a preset movement time, and can also be a preset movement distance, or a preset number of steps of movement.

[0143] The movement mode is the second flip and roll movement mode, and step S200 specifically includes:

[0144] Step S241, after increasing the fourth variable friction module in the first tetrahedron soft robot for a preset time, the fourth variable friction module in the second tetrahedron soft robot is increased, so that after the fourth variable friction module in the first tetrahedron soft robot is separated from the ground, the fourth variable friction module in the second tetrahedron soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedron soft robot and the fourth variable friction module in the second tetrahedron soft robot is restored.

[0145] Step S242, after increasing the second variable friction module in the second tetrahedral soft robot for a preset time, the second variable friction module in the first tetrahedral soft robot is increased, so that after the second variable friction module in the second tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the second tetrahedral soft robot and the second variable friction module in the first tetrahedral soft robot is restored.

[0146] Step S243, after increasing the third variable friction module in the first tetrahedral soft robot for a preset time, the third variable friction module in the second tetrahedral soft robot is increased, so that after the third variable friction module in the first tetrahedral soft robot is separated from the ground, the third variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the first tetrahedral soft robot and the third variable friction module in the second tetrahedral soft robot is restored.

[0147] Step S244, after increasing the fourth variable friction module in the second tetrahedral soft robot, the fourth variable friction module in the first tetrahedral soft robot is increased for a preset time, so that after the fourth variable friction module in the second tetrahedral soft robot is separated from the ground, the fourth variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the second tetrahedral soft robot and the fourth variable friction module in the first tetrahedral soft robot is restored.

[0148] Step S245, after increasing the second variable friction module in the first tetrahedral soft robot for a preset time, the second variable friction module in the second tetrahedral soft robot is increased, so that after the second variable friction module in the first tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the first tetrahedral soft robot and the second variable friction module in the second tetrahedral soft robot is restored.

[0149] Step S246, after increasing the third variable friction module in the second tetrahedral soft robot for a preset time, the third variable friction module in the first tetrahedral soft robot is increased, so that after the third variable friction module in the second tetrahedral soft robot is separated from the ground, the third variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the second tetrahedral soft robot and the third variable friction module in the first tetrahedral soft robot is restored.

[0150] Step S247, continue to execute the increase of the fourth variable friction module in the first tetrahedron soft robot, and then increase the fourth variable friction module in the second tetrahedron soft robot, so that the fourth variable friction module in the first tetrahedron soft robot is separated from the ground, and then the fourth variable friction module in the second tetrahedron soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedron soft robot and the fourth variable friction module in the second tetrahedron soft robot is restored, until the movement of the reconstructed tetrahedron soft robot is completed.

[0151] Specifically, after the fourth variable friction module 14 in the first tetrahedron soft robot is increased, the reconstructed tetrahedron soft robot tilts to the left, and the fourth variable friction module 15 in the second tetrahedron soft robot moves downward and tends to approach the ground. Therefore, the increase of the fourth variable friction module 15 needs to be delayed after the increase of the fourth variable friction module 14, so that the fourth variable friction module 14 is separated from the ground, and the fourth variable friction module 15 contacts the ground more stably. After the fourth variable friction module 14 is separated from the ground, the size of the fourth variable friction module 14 and the fourth variable friction module 15 is restored. At this time, the third variable friction module 13 in the first tetrahedron soft robot contacts the ground, the second variable friction module 17 and the fourth variable friction module 15 in the second tetrahedron soft robot contact the ground, and one step of left rolling is realized.

[0152] Then, after the second variable friction module 17 in the second tetrahedron soft robot is increased, the reconstructed tetrahedron soft robot continues to tilt to the left, and the second variable friction module 12 in the first tetrahedron soft robot moves downward and tends to approach the ground. Therefore, the increase of the second variable friction module 12 in the first tetrahedron soft robot needs to be delayed after the increase of the second variable friction module 17. And after the second variable friction module 17 is separated from the ground, the size of the second variable friction module 17 and the second variable friction module 12 is restored. At this time, the first variable friction module 11, the second variable friction module 12 and the third variable friction module 13 in the first tetrahedron soft robot contact the ground, and the fourth variable friction module 15 in the second tetrahedron soft robot contacts the ground, and one step of left rolling is realized again.

[0153] Then, continue to roll one step to the left, and can roll 360° to the left, until the preset condition is met, and the movement of the reconstructed tetrahedron soft robot is completed. The preset condition can be a preset movement time, can also be a preset movement distance, or a preset number of steps, etc.

[0154] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1. A reconfigurable tetrahedral soft robot, comprising: The reconfigurable tetrahedron soft robot comprises a first tetrahedron soft robot and a second tetrahedron soft robot, wherein the first tetrahedron soft robot and the second tetrahedron soft robot each comprise: four variable friction modules respectively located at the vertices of the tetrahedron; six telescopic modules respectively located at the edges of the tetrahedron; wherein the two ends of the telescopic module are movably connected with two variable friction modules, and the length of the telescopic module is adjustable; the first variable friction module of the second tetrahedron soft robot is located in the tetrahedron of the first tetrahedron soft robot, the second variable friction module of the second tetrahedron soft robot and the first, third and fourth variable friction modules of the first tetrahedron soft robot are in contact with the ground, and the third and fourth variable friction modules of the second tetrahedron soft robot and the second variable friction module of the first tetrahedron soft robot are in suspension; the variable friction module is used to adjust the size of the variable friction module to change the friction force of other variable friction modules on the ground.

2. The reconfigurable tetrahedral soft robot of claim 1, wherein, The telescopic module comprises: a sponge module; two first magnets respectively located at the two ends of the sponge module; the telescopic module is movably connected with the variable friction module through a connecting module, and the connecting module comprises: a flexible seat attached to the surface of the variable friction module and provided with a plurality of installation positions; a plurality of second magnets installed in the corresponding installation positions; wherein the second magnet is magnetically connected with the first magnet.

3. The reconfigurable tetrahedral soft robot of claim 2, wherein, The sponge module is a porous sponge module, which becomes longer after absorbing gas; the telescopic module further comprises: an outer package, wherein the porous sponge module and the first magnet are located in the outer package; a first gas pipe in communication with the outer package.

4. The reconfigurable tetrahedral soft robot of claim 3, wherein, The flexible seat is provided with a pipe opening; the variable friction module comprises: a balloon attached to the flexible seat; a second gas pipe in communication with the balloon; wherein the second gas pipe is located in the pipe opening.

5. A multi-gait motion control method for reconfigurable tetrahedral soft robots, comprising: The multi-gait motion control method is applied to the reconfigurable tetrahedron soft robot of any one of claims 1-4, and the multi-gait motion control method comprises the following steps: determining the motion mode of the reconfigurable tetrahedron soft robot; adjusting the size of the variable friction module and / or the length of the telescopic module according to the motion mode to complete the motion of the reconfigurable tetrahedron soft robot.

6. The multi-gait motion control method of the reconfigurable tetrahedral soft robot of claim 5, wherein, The motion mode is a peristaltic walking mode; and the adjustment of the size of the variable friction module and / or the length of the telescopic module according to the motion mode to complete the motion of the reconfigurable tetrahedron soft robot comprises: increasing the size of the third and fourth variable friction modules in the first tetrahedron soft robot to reduce the pressure of the second variable friction module on the ground in the second tetrahedron soft robot; shortening the telescopic module of the second tetrahedron soft robot to reduce the distance between the first and second variable friction modules in the second tetrahedron soft robot; increasing the size of the first variable friction module of the first tetrahedral soft robot and restoring the size of the third variable friction module and the fourth variable friction module of the first tetrahedral soft robot to reduce the pressure of the third variable friction module and the fourth variable friction module of the first tetrahedral soft robot on the ground; restoring the telescopic module of the second tetrahedral soft robot to increase the distance between the first variable friction module and the second variable friction module of the second tetrahedral soft robot and shortening the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module of the first tetrahedral soft robot and the first variable friction module of the second tetrahedral soft robot; restoring the size of the first variable friction module of the first tetrahedral soft robot and restoring the telescopic module of the first tetrahedral soft robot to restore the distance between the first variable friction module of the first tetrahedral soft robot and the first variable friction module of the second tetrahedral soft robot; continuing to increase the size of the third variable friction module and the fourth variable friction module of the first tetrahedral soft robot to reduce the pressure of the second variable friction module of the second tetrahedral soft robot on the ground until the movement of the reconstructed tetrahedral soft robot is completed.

7. The multi-gait motion control method of the reconfigurable tetrahedral soft robot of claim 6, wherein, the shortening of the telescopic module of the second tetrahedral soft robot to reduce the distance between the first variable friction module and the second variable friction module of the second tetrahedral soft robot, comprising: shortening the telescopic module between the first variable friction module and the second variable friction module of the second tetrahedral soft robot.

8. The multi-gait motion control method of the reconfigurable tetrahedral soft robot according to claim 7, wherein, the shortening of the telescopic module of the first tetrahedral soft robot to shorten the distance between the first variable friction module of the first tetrahedral soft robot and the first variable friction module of the second tetrahedral soft robot, comprising: shortening the telescopic module between the first variable friction module and the third variable friction module of the first tetrahedral soft robot and shortening the telescopic module between the first variable friction module and the fourth variable friction module of the first tetrahedral soft robot.

9. The multi-gait motion control method of the reconfigurable tetrahedral soft robot of claim 8, wherein, the movement mode is a first rolling movement mode; and the adjusting the size of the variable friction module and / or the length of the telescopic module according to the movement mode to complete the movement of the reconstructed tetrahedral soft robot, comprising: after increasing the size of the third variable friction module of the first tetrahedral soft robot for a preset time, increasing the size of the third variable friction module of the second tetrahedral soft robot, so that after the third variable friction module of the first tetrahedral soft robot is separated from the ground, the third variable friction module of the second tetrahedral soft robot contacts the ground, and the size of the third variable friction module of the first tetrahedral soft robot and the third variable friction module of the second tetrahedral soft robot is restored; After increasing the second variable friction module in the second tetrahedral soft robot by a preset time, the second variable friction module in the first tetrahedral soft robot is increased, so that after the second variable friction module in the second tetrahedral soft robot is separated from the ground, the second variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the second tetrahedral soft robot and the second variable friction module in the first tetrahedral soft robot is restored; After increasing the fourth variable friction module in the first tetrahedral soft robot by a preset time, the fourth variable friction module in the second tetrahedral soft robot is increased, so that after the fourth variable friction module in the first tetrahedral soft robot is separated from the ground, the fourth variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedral soft robot and the fourth variable friction module in the second tetrahedral soft robot is restored; After increasing the third variable friction module in the second tetrahedral soft robot, the third variable friction module in the first tetrahedral soft robot is increased by a preset time, so that after the third variable friction module in the second tetrahedral soft robot is separated from the ground, the third variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the second tetrahedral soft robot and the third variable friction module in the first tetrahedral soft robot is restored; After increasing the second variable friction module in the first tetrahedral soft robot by a preset time, the second variable friction module in the second tetrahedral soft robot is increased, so that after the second variable friction module in the first tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the first tetrahedral soft robot and the second variable friction module in the second tetrahedral soft robot is restored; After increasing the fourth variable friction module in the second tetrahedral soft robot by a preset time, the fourth variable friction module in the first tetrahedral soft robot is increased, so that after the fourth variable friction module in the second tetrahedral soft robot is separated from the ground, the fourth variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedral soft robot and the fourth variable friction module in the second tetrahedral soft robot is restored; Continue to execute the step of increasing the third variable friction module in the second tetrahedral soft robot by a preset time after increasing the third variable friction module in the first tetrahedral soft robot by a preset time, so that after the third variable friction module in the first tetrahedral soft robot is separated from the ground, the third variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the first tetrahedral soft robot and the third variable friction module in the second tetrahedral soft robot is restored, until the motion of the reconstructed tetrahedral soft robot is completed.

10. The multi-gait motion control method of the reconfigurable tetrahedral soft robot of claim 9, wherein, The motion mode is a second rolling motion mode; and the adjusting the size of the variable friction module and / or the length of the telescopic module according to the motion mode to complete the motion of the reconfigured tetrahedral soft robot comprises: After increasing the fourth variable friction module in the first tetrahedral soft robot for a preset time, the fourth variable friction module in the second tetrahedral soft robot is increased, so that after the fourth variable friction module in the first tetrahedral soft robot is separated from the ground, the fourth variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedral soft robot and the fourth variable friction module in the second tetrahedral soft robot is restored; After increasing the second variable friction module in the second tetrahedral soft robot for a preset time, the second variable friction module in the first tetrahedral soft robot is increased, so that after the second variable friction module in the second tetrahedral soft robot is separated from the ground, the second variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the second tetrahedral soft robot and the second variable friction module in the first tetrahedral soft robot is restored; After increasing the third variable friction module in the first tetrahedral soft robot for a preset time, the third variable friction module in the second tetrahedral soft robot is increased, so that after the third variable friction module in the first tetrahedral soft robot is separated from the ground, the third variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the first tetrahedral soft robot and the third variable friction module in the second tetrahedral soft robot is restored; After increasing the fourth variable friction module in the second tetrahedral soft robot, the fourth variable friction module in the first tetrahedral soft robot is increased for a preset time, so that after the fourth variable friction module in the second tetrahedral soft robot is separated from the ground, the fourth variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the second tetrahedral soft robot and the fourth variable friction module in the first tetrahedral soft robot is restored; After increasing the second variable friction module in the first tetrahedral soft robot for a preset time, the second variable friction module in the second tetrahedral soft robot is increased, so that after the second variable friction module in the first tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the first tetrahedral soft robot and the second variable friction module in the second tetrahedral soft robot is restored; After increasing the second variable friction module in the first tetrahedral soft robot for a preset time, the second variable friction module in the second tetrahedral soft robot is increased, so that after the second variable friction module in the first tetrahedral soft robot is separated from the ground, the second variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the second variable friction module in the first tetrahedral soft robot and the second variable friction module in the second tetrahedral soft robot is restored; After increasing the preset time of the third variable friction module in the second tetrahedral soft robot, the size of the third variable friction module in the second tetrahedral soft robot is increased, so that after the third variable friction module in the second tetrahedral soft robot is separated from the ground, the third variable friction module in the first tetrahedral soft robot contacts the ground, and the size of the third variable friction module in the second tetrahedral soft robot and the third variable friction module in the first tetrahedral soft robot is restored. The step of continuing to increase the preset time of the fourth variable friction module in the first tetrahedral soft robot, increasing the fourth variable friction module in the second tetrahedral soft robot, so that after the fourth variable friction module in the first tetrahedral soft robot is separated from the ground, the fourth variable friction module in the second tetrahedral soft robot contacts the ground, and the size of the fourth variable friction module in the first tetrahedral soft robot and the fourth variable friction module in the second tetrahedral soft robot is restored, until the motion of the reconstructed tetrahedral soft robot is completed.

Images