A multi-terrain motion planning method for a cubic soft robot

Abstract

The present invention discloses a multi-terrain motion planning method for a cubic soft robot. The cubic soft robot comprises a cubic support frame composed of eight expandable ball modules and twelve retractable rod modules. The ball modules are evenly distributed at the vertices of the support frame, and the rod modules are evenly distributed at the edges of the support frame. Each rod module is connected to two ball modules at each end. The ball modules can expand away from the center of the support frame, while the rod modules can retract along their own length. By controlling the expansion degree of the ball modules and the retraction degree of the rod modules, the support frame's posture and motion are adjusted in a coordinated manner, thereby improving the cubic soft robot's flexibility in various terrains.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a multi-terrain motion planning method for a cubic soft robot. Background Art

[0002] The robotics industry is currently experiencing continuous growth and development. Robots, with their ability to efficiently, accurately, and continuously perform basic tasks, have significantly improved social productivity. With technological advancements, people's expectations for robotic functionality are growing. Soft robots, as a new type of robot, can change shape, traverse terrain, and even disassemble and reconstruct during use. Their continuity, high compliance, and high degree of freedom give them strong adaptability to environments, enabling exploration of complex spaces. They offer high flexibility and promising application prospects.

[0003] However, existing soft robots have a single movement mode and are still unable to adapt well to various terrains in actual use.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a multi-terrain motion planning method for a cubic soft robot, aiming to solve the problem of insufficient adaptability of existing soft robots to various terrains.

[0006] The technical solutions of the present invention are as follows:

[0007] A multi-terrain motion planning method for a cubic soft robot, wherein the cubic soft robot includes a cubic support frame, the support frame consisting of eight expandable ball modules and twelve retractable rod modules, the ball modules being evenly distributed at the vertices of the support frame, and the rod modules being evenly distributed at the edges of the support frame; each rod module having two ends connected to two ball modules; the ball modules being expandable in a direction away from the center of the support frame; and the rod modules being retractable along their own lengths;

[0008] The multi-terrain motion planning method comprises:

[0009] Acquiring current terrain information and planning a movement plan based on the current terrain information;

[0010] Activate the ball module and the rod module according to the motion plan to change the posture of the support frame and move it;

[0011] After the support frame reaches the target position, the ball module and the rod module are expanded to restore to the initial state.

[0012] The multi-terrain motion planning method of the cubic soft robot is described, wherein the ball module includes a positive pressure pneumatic device and a stretchable film balloon, and the positive pressure pneumatic device is connected to the stretchable film balloon and is used to inflate and deflat the stretchable film balloon to raise and lower the apex of the support frame.

[0013] The multi-terrain motion planning method of the cubic soft robot is described, wherein the rod module includes a vacuum pneumatic device, a long sealed film balloon and a foam-like material block, the sealed film balloon is connected to the telescopic film balloon; the foam-like material block is arranged in the sealed film balloon; the vacuum pneumatic device is connected to the sealed film balloon, and is used to inflate and deflat the foam-like material block to stretch or shrink the sealed film balloon.

[0014] In the multi-terrain motion planning method for a cubic soft robot, the step of obtaining current terrain information and planning a motion plan based on the current terrain information specifically includes:

[0015] Acquiring current terrain information and planning a movement direction based on the current terrain information;

[0016] Acquire terrain information along the movement direction and plan movement posture and movement mode.

[0017] The multi-terrain motion planning method of the cubic soft robot is characterized in that the motion direction is perpendicular to at least one plane of the support frame.

[0018] The multi-terrain motion planning method of the cubic soft robot, wherein the step of obtaining terrain information along the motion direction and planning the motion posture and motion mode specifically includes:

[0019] Recording the eight ball modules in groups of two along the movement direction as a first type ball module, a second type ball module, a third type ball module, and a fourth type ball module, wherein the direction of the line connecting two ball modules in the same group is perpendicular to the movement direction;

[0020] The four rod modules perpendicular to the direction of movement are recorded as first-type rod modules; the eight rod modules parallel to the direction of movement are recorded as second-type rod modules and third-type rod modules respectively; one end of the second-type rod module is connected to the first-type ball module, and the other end is connected to the second-type ball module; or one end of the second-type rod module is connected to the third-type ball module, and the other end is connected to the fourth-type ball module; one end of the third-type rod module is connected to the first-type ball module, and the other end is connected to the fourth-type ball module; or one end of the third-type rod module is connected to the second-type ball module, and the other end is connected to the third-type ball module;

[0021] planning an expansion sequence of the first type ball module, the second type ball module, the third type ball module, and the fourth type ball module;

[0022] The telescoping sequence of the first type rod module, the second type rod module and the third type rod module is planned.

[0023] The multi-terrain motion planning method of the cubic soft robot, wherein the step of obtaining terrain information along the motion direction and planning the motion posture and motion mode specifically includes:

[0024] The terrain shape, slope data, obstacle data, width data and height data in the movement direction are obtained, and the movement posture and movement mode are planned.

[0025] The multi-terrain motion planning method of the cubic soft robot is described, wherein the motion posture includes general posture, squatting posture, narrowing posture, gathering posture and lifting posture; the motion mode includes walking motion and rolling motion.

[0026] The present application also discloses a computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein when the processor executes the computer program, the steps of the multi-terrain motion planning method of the cubic soft robot as described above are implemented.

[0027] The present application also discloses a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is processed and executed, the steps of the multi-terrain motion planning method of the cubic soft robot as described above are implemented.

[0028] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0029] The cubic soft robot disclosed in the present invention is in the shape of a cube, with ball modules arranged on its eight vertices and rod modules arranged on its twelve sides, thereby forming a support frame and forming a three-dimensional stable structure.

[0030] What's special is that the ball modules can expand and the rod modules can extend. When the ball modules at different vertices expand, the center of gravity of the support frame shifts, causing it to tilt. This in turn results in different friction forces between different positions on the support frame and the contact surface. This helps adjust the support point of the cubic soft robot. Based on this, after selecting the support point, the rod modules are extended or retracted toward or away from the support point to change the shape and position of the support frame, allowing it to move. Ultimately, through repeated control of the ball modules and rod modules working together, the cube soft robot is able to move.

[0031] That is to say, the edges and vertices on each face of the cubic soft robot disclosed in the present invention can be deformed, that is, the structure of the support frame can be adjusted in three-dimensional space, so that the cubic soft robot can move flexibly when it lands on the contact surface in any posture, and the movement mode is versatile, which is conducive to adapting to various terrains and improving the flexibility of the use of the cubic soft robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 Schematic diagram of the structure of the cubic soft robot in the present invention;

[0034] Figure 2 Schematic diagram of the structure of the ball module in the present invention;

[0035] Figure 3 is a cross-sectional view of a rod module of the present invention;

[0036] Figure 4 This is a flow chart of the multi-terrain motion planning method for the cubic soft robot of the present invention;

[0037] Figure 5 Schematic diagram of the structure of the cubic soft robot in the present invention;

[0038] Figure 6 This is a flow chart of motion planning in the multi-terrain motion planning method for a cubic soft robot in the present invention;

[0039] Figure 7 The motion posture graph of the multi-terrain motion planning method of the cubic soft robot in the present invention;

[0040] Figure 8 This is a decomposition diagram of the walking motion in the multi-terrain motion planning method of the cubic soft robot in the present invention;

[0041] Figure 9 This is a decomposition diagram of the rolling motion in the multi-terrain motion planning method of the cubic soft robot in the present invention.

[0042] Among them, 100, support frame; 110, ball module; 111, positive pressure pneumatic device; 112, telescopic film balloon; 110a, first type ball module; 110b, second type ball module; 110c, third type ball module; 110d, fourth type ball module; 120, rod module; 121, vacuum pneumatic device; 122, sealed film balloon; 123, foam-like material block; 120a, first type rod module; 120b, second type rod module; 120c, third type rod module. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0044] See Figure 1 In one embodiment of the present application, a cubic soft robot is disclosed, wherein the cubic soft robot includes a cubic-shaped supporting frame 100, and the supporting frame 100 is composed of eight expandable ball modules 110 and twelve retractable rod modules 120. The ball modules 110 are evenly distributed on the vertices of the supporting frame 100, and the rod modules 120 are evenly distributed on the edges of the supporting frame 100; the two ends of each of the rod modules 120 are respectively connected to two of the ball modules 110; the ball module 110 can expand in a direction away from the center of the supporting frame 100; and the rod module 120 can retract along its own length direction.

[0045] The cubic soft robot disclosed in this embodiment is in the shape of a cube, with ball modules 110 arranged on its eight vertices and rod modules 120 arranged on its twelve sides, thereby forming a support frame 100 and forming a three-dimensional stable structure.

[0046] In particular, the ball modules 110 can expand, and the rod modules 120 can extend and retract. When the ball modules 110 at different vertices expand, the center of gravity of the support frame 100 shifts, causing it to tilt. This, in turn, results in different friction forces between different positions on the support frame 100 and the contact surface. This can adjust the support point of the cubic soft robot. Based on this, after selecting the support point, the rod modules 120 are extended or retracted toward or away from the support point, changing the shape and position of the support frame 100 and moving it. Ultimately, by repeatedly controlling the coordinated operation of the ball modules 110 and rod modules 120, the cubic soft robot is moved.

[0047] That is to say, the edges and vertices on each face of the cubic soft robot disclosed in this embodiment can be deformed, that is, the structure of the support frame 100 can be adjusted in three-dimensional space, so that the cubic soft robot can move flexibly when it lands on the contact surface in any posture, and the movement mode is versatile, which is conducive to adapting to various terrains and improving the flexibility of the use of the cubic soft robot.

[0048] like Figure 2 As shown, as one implementation of this embodiment, the ball module 110 includes a positive-pressure pneumatic device 111 and a stretchable film balloon 112. The positive-pressure pneumatic device 111 is connected to the stretchable film balloon 112 and is used to inflate and deflate the stretchable film balloon 112 to raise or lower the apex of the support frame 100. In this embodiment, the positive-pressure pneumatic device 111 includes, but is not limited to, a positive-pressure fan, a blower, a positive-pressure air valve, etc. The positive-pressure pneumatic device 111 can inflate the stretchable film balloon 112 via a connecting tube. The stretchable film balloon 112 includes, but is not limited to, a latex balloon, a rubber balloon, etc. After inflation, the volume of the stretchable film balloon 112 increases.

[0049] Therefore, during the operation of the cubic soft robot, at the vertex position on the support frame 100 that contacts the contact surface, when the ball module 110 expands, the surface area of ​​the stretchable film balloon 112 increases, increasing its contact area with the contact surface, thereby increasing the friction force. This position can provide more stable support for the entire support frame 100 and form a support fulcrum.

[0050] In addition, by controlling the expansion degree of the ball module 110, the support frame 100 can be lifted up, so that the center of gravity of the support frame 100 is shifted, resulting in a movement tendency to tilt to one side, which is conducive to driving the cubic soft robot to perform a rolling action.

[0051] Of course, after the cubic soft robot disclosed in this embodiment completes the moving action, the positive pressure pneumatic device 111 is turned off to reduce the air pressure in the stretch film balloon 112, so that the stretch film balloon 112 can automatically return to its original state to facilitate the next moving instruction.

[0052] like Figure 3 As shown, as another implementation of this embodiment, it is disclosed that the rod module 120 includes a vacuum pneumatic device 121, an elongated sealed film balloon 122 and a foam-like material block 123, the sealed film balloon 122 is connected to the stretchable film balloon 112; the foam-like material block 123 is arranged in the sealed film balloon 122; the vacuum pneumatic device 121 is connected to the sealed film balloon 122, and is used to inflate and deflat the foam-like material block 123 to stretch or shrink the sealed film balloon 122.

[0053] The sealed film balloon 122 disclosed in this embodiment is generally elongated, including but not limited to a hollow latex shell, a hollow rubber shell, a hollow plastic shell, etc. The sealed film balloon 122 extends from one vertex of the support frame 100 to the other vertex, and is connected to the ball module 110 at both ends, thereby forming a complete three-dimensional cubic structure.

[0054] Specifically, in this embodiment, the sealing film balloon 122 is the main structure of the support frame 100. Therefore, in actual manufacturing, the supporting performance is taken into consideration, and a foam-like material block 123 is set in the internal cavity of the sealing film balloon 122 to increase the stability of the support frame 100.

[0055] Specifically, in this embodiment, the vacuum pneumatic device 121 includes but is not limited to vacuum pumps, vacuum pumps and other vacuum equipment, which are used to generate negative pressure inside the sealed film balloon 122, thereby shrinking it, reducing the edge length of the support frame 100, and adjusting the distance between two adjacent ball modules 110.

[0056] like Figure 4 As shown, as another embodiment of the present application, a multi-terrain motion planning method for any of the above-mentioned cubic soft robots is disclosed, wherein the multi-terrain motion planning method includes:

[0057] S100, obtaining current terrain information, and planning a movement plan according to the current terrain information;

[0058] S200, starting the ball module 110 and the rod module 120 according to the motion plan, changing the posture of the support frame 100 and moving;

[0059] S300 : After the support frame 100 reaches the target position, the ball module 110 and the rod module 120 are expanded to restore to the initial state.

[0060] The multi-terrain motion planning method disclosed in this embodiment adjusts the cubic soft robot's posture based on real-time terrain conditions, deforming its three-dimensional structure to enable flexible movement and facilitate navigating obstacles, potholes, narrow paths, and other challenging terrain. Furthermore, after each action command is completed through deformation, the ball module 110 and rod module 120 are controlled to return to their initial states, allowing for rapid planning and execution of the next action, facilitating continuous and smooth control of the cubic soft robot's motion.

[0061] Specifically, terrain information can be acquired by scanning or photographing the surrounding environment using sensing devices such as ultrasonic radar, cameras, and infrared sensors, and then processed by a processing motherboard or processing chip. During actual manufacturing, these sensing devices can be placed at the center of the cubic soft robot and protected by a support frame 100 surrounding the sensing devices.

[0062] Specifically, as an implementation of this embodiment, step S100 is disclosed to specifically include:

[0063] S110, obtaining current terrain information, and planning a movement direction according to the current terrain information;

[0064] S120: Acquire terrain information along the movement direction, and plan movement posture and movement mode.

[0065] In this embodiment, the cube-shaped soft robot's ball modules 110 and rod modules 120 are positioned at the edges of the six planes of the support frame 100. This allows precise control of the cube-shaped soft robot's movement direction and distance along the length, width, and height of the support frame 100. When planning its movement direction, the flattest or shortest path is determined based on the real-time terrain, and then the robot's posture and motion pattern are planned, thereby improving the control accuracy of the cube-shaped soft robot's movement.

[0066] For example, when there is a pit directly in front of the cubic soft robot, the planned movement direction of the support frame 100 can first avoid the pit to the right, then move forward, completely pass the pit, and then turn right back to the front of the original path, thereby achieving flexible movement and maintaining stability.

[0067] Specifically, a three-dimensional coordinate system can be established with the length, width, and height of the support frame 100 as the X-axis, Y-axis, and Z-axis. The movement path of the cube-shaped soft robot can be decomposed one by one along these three coordinate directions. After obtaining the current terrain information, the movement direction is planned based on the topography between the starting and ending points. Based on the orientation of the movement direction within the three-dimensional coordinate system, the distance the cube-shaped soft robot needs to move along the length, width, and height directions is decomposed, thereby further planning the posture and method of movement in each direction.

[0068] Specifically, as another implementation of this embodiment, the motion direction is disclosed to be perpendicular to at least one plane of the support frame 100. When the motion direction disclosed in this embodiment is perpendicular to any one of the length, width, and height directions of the support frame 100, the four ball modules 110 and four rod modules 120 on the support frame 100 that are in contact with the contact surface can be controlled to perform highly accurate and stable movement, which is beneficial to improving the stability of the cubic soft robot during use.

[0069] like Figure 5 and Figure 6 As shown, as another implementation of this embodiment, step S120 is disclosed to specifically include:

[0070] S121, recording the eight ball modules 110 in pairs along the motion direction as a first type ball module 110a, a second type ball module 110b, a third type ball module 110c, and a fourth type ball module 110d, wherein the direction of the line connecting two ball modules 110 in the same group is perpendicular to the motion direction;

[0071] S122. Record the four rod modules 120 perpendicular to the direction of movement as first-type rod modules 120a; record the eight rod modules 120 parallel to the direction of movement as second-type rod modules 120b and third-type rod modules 120c, respectively; one end of the second-type rod module 120b is connected to the first-type ball module 110a, and the other end is connected to the second-type ball module 110b; or, one end of the second-type rod module 120b is connected to the third-type ball module 110c, and the other end is connected to the fourth-type ball module 110d; one end of the third-type rod module 120c is connected to the first-type ball module 110a, and the other end is connected to the fourth-type ball module 110d; or, one end of the third-type rod module 120c is connected to the second-type ball module 110b, and the other end is connected to the third-type ball module 110c;

[0072] S123, planning the expansion order of the first type ball module 110a, the second type ball module 110b, the third type ball module 110c, and the fourth type ball module 110d;

[0073] S124 , planning the telescoping sequence of the first type rod module 120 a , the second type rod module 120 b , and the third type rod module 120 c .

[0074] In this embodiment, by classifying the ball modules 110 and the rod modules 120 one by one along the movement direction, the process of collaborative work between multiple components can be planned more accurately, which is conducive to efficient and orderly movement.

[0075] Specifically, as another implementation of this embodiment, step S120 is disclosed to specifically include:

[0076] The terrain shape, slope data, obstacle data, width data and height data in the movement direction are obtained, and the movement posture and movement mode are planned.

[0077] In this embodiment, the terrain information in the movement direction is obtained in order to plan a reasonable movement path and determine whether there are obstacles on the movement path of the robot, thereby facilitating further planning of the movement mode.

[0078] Specifically, as another implementation of this embodiment, the disclosed movement posture includes a general posture, a squatting posture, a narrowing posture, a gathering posture and a lifting posture. Figure 7 As shown, in this embodiment:

[0079] The general posture is the initial state, that is, the eight ball modules 110 are in an unexpanded state, and together with the twelve extended rod modules 120 form a structurally stable cubic support frame 100;

[0080] The squatting state is when the third type of rod module 120c is in a contracted state, and the remaining rod modules 120 and all ball modules 110 are in an initial state;

[0081] The narrowed posture is that the first type of rod module 120a is in a retracted state, and the remaining rod modules 120 and all ball modules 110 are in an initial state;

[0082] The gathered posture is that the first type rod module 120a and the third type rod module 120c are in the contracted state, and the remaining rod modules 120 and all the ball modules 110 are in the initial state;

[0083] The lifting posture is that the first type ball module 110a and the second type ball module 110b are in the expanded state at the same time, and the remaining ball modules 110 and all the rod modules 120 are in the initial state.

[0084] Specifically, in another embodiment of the present invention, the motion modes include walking motion and rolling motion. In this embodiment, the walking motion is achieved by anchoring the support fulcrum and then the telescopic rod module 120; the rolling motion is achieved by the expansion ball module 110.

[0085] like Figure 8 As shown, the operating steps for walking forward in the direction of movement are: 1. Expand the second-type ball module 110b to form a support fulcrum, contract the second-type rod module 120b, and pull the first-type ball module 110a toward the second-type ball module 110b; 2. Restore the second-type ball module 110b, expand the first-type ball module 110a, convert the support fulcrum from the second-type ball module 110b to the first-type ball module 110a, extend the second-type rod module 120b, and push the second-type ball module 110b forward, away from the first ball module 110; 3. Restore the first-type ball module 110a.

[0086] like Figure 9As shown, the operation steps of rolling forward along the movement direction are: 1. Expand the first type ball module 110a to tilt the support frame 100 until it falls forward and the third type ball module 110c contacts the contact surface; 2. Restore the first type ball module 110a.

[0087] Specifically, in another implementation of this embodiment, the motion state and motion mode of the planned cube soft robot are disclosed, including:

[0088] If the terrain in the direction of movement is determined to be generally flat, the movement posture is switched to a normal posture, and the movement mode is switched to walking;

[0089] If the terrain in the direction of movement is determined to be low-friction flat terrain, the movement posture is switched to the normal posture and the movement mode is switched to rolling movement;

[0090] If the terrain in the direction of movement is determined to be an uphill terrain, the movement posture is switched to a squatting posture, and the movement mode is switched to walking movement;

[0091] If the terrain in the direction of movement is determined to be a downhill terrain, the movement posture is switched to a normal posture and the movement mode is switched to a rolling movement;

[0092] If the terrain in the direction of movement is judged to be a high-step obstacle terrain, the movement posture is switched to a lifting posture and the movement mode is switched to a rolling movement;

[0093] If the terrain in the direction of movement is judged to be low pothole obstacle terrain, the movement posture is switched to the normal posture and the movement mode is switched to rolling movement;

[0094] If the terrain in the direction of movement is determined to be a limited-width channel terrain, the movement posture is switched to a narrowing posture, and the movement mode is switched to walking movement;

[0095] If the terrain in the direction of movement is determined to be a height-restricted passage, the movement posture is switched to a squatting posture, and the movement mode is switched to walking movement;

[0096] If the terrain in the direction of movement is determined to be a height-limited and width-limited channel terrain, the movement posture is switched to a gathering posture, and the movement mode is switched to walking movement.

[0097] As another embodiment of the present application, a computer device is disclosed, including a memory and a processor, wherein the memory stores a computer program, wherein when the processor executes the computer program, the steps of the multi-terrain motion planning method of the cubic soft robot as described above are implemented.

[0098] As another embodiment of the present application, a computer-readable storage medium is disclosed, on which a computer program is stored, wherein when the computer program is processed and executed, the steps of the multi-terrain motion planning method of the cubic soft robot as described above are implemented.

[0099] In summary, the present application discloses a cubic soft robot, wherein the cubic soft robot includes a cubic-shaped support frame 100, and the support frame 100 is composed of eight expandable ball modules 110 and twelve retractable rod modules 120, wherein the ball modules 110 are evenly distributed on the vertices of the support frame 100, and the rod modules 120 are evenly distributed on the edges of the support frame 100; each of the two ends of the rod module 120 is respectively connected to two of the ball modules 110; the ball module 110 can expand in a direction away from the center of the supported frame 100; and the rod module 120 can retract along its own length. The cubic soft robot disclosed in this embodiment is in the shape of a cube, with ball modules 110 arranged on its eight vertices and rod modules 120 arranged on its twelve edges, thereby forming a support frame 100 and forming a three-dimensional stable structure. The edges and vertices on each face of the cubic soft robot disclosed in this embodiment can be deformed, that is, the structure of the support frame 100 can be adjusted in three-dimensional space, so that the cubic soft robot can move flexibly when it lands on the contact surface in any posture, and the movement mode is versatile, which is conducive to adapting to various terrains and improving the flexibility of the use of the cubic soft robot.

[0100] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0101] It should be noted that the present invention takes a cubic soft robot as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the cubic soft robot, and can also be applied to the production and use of other similar workpieces.

[0102] It should be understood that the present invention is not limited to the exact construction described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-terrain motion planning method for a cubic soft robot, characterized in that: The cubic soft robot includes a cubic support frame, which is composed of eight expandable ball modules and twelve retractable rod modules. The ball modules are evenly distributed on the vertices of the support frame, and the rod modules are evenly distributed on the edges of the support frame. The two ends of each rod module are respectively connected to two ball modules. The ball modules can expand in a direction away from the center of the support frame. The rod module can be extended and retracted along its own length direction; The multi-terrain motion planning method comprises: Acquiring current terrain information and planning a movement plan based on the current terrain information; Activate the ball module and the rod module according to the motion plan to change the posture of the support frame and move it; After the support frame reaches the target position, the ball module and the rod module are expanded to restore to the initial state.

2. The multi-terrain motion planning method of a cubic soft robot according to claim 1, characterized in that: The ball module includes a positive pressure pneumatic device and a stretch film balloon. The positive pressure pneumatic device is connected to the stretch film balloon and is used to inflate and deflat the stretch film balloon to raise or lower the top of the support frame.

3. The multi-terrain motion planning method of a cubic soft robot according to claim 2, characterized in that: The rod module includes a vacuum pneumatic device, a long sealed film balloon and a foam-like material block, the sealed film balloon is connected to the stretchable film balloon; the foam-like material block is arranged in the sealed film balloon; the vacuum pneumatic device is connected to the sealed film balloon, and is used to inflate and deflat the foam-like material block to stretch or shrink the sealed film balloon.

4. The multi-terrain motion planning method of a cubic soft robot according to claim 1, characterized in that: The step of obtaining current terrain information and planning a movement plan according to the current terrain information specifically includes: Acquiring current terrain information and planning a movement direction based on the current terrain information; Acquire terrain information along the movement direction and plan movement posture and movement mode.

5. The multi-terrain motion planning method of a cubic soft robot according to claim 4, characterized in that: The direction of movement is perpendicular to at least one plane of the support frame.

6. The multi-terrain motion planning method of a cubic soft robot according to claim 4, characterized in that: The step of acquiring terrain information along the movement direction and planning the movement posture and movement mode specifically includes: Recording the eight ball modules in groups of two along the movement direction as a first type ball module, a second type ball module, a third type ball module, and a fourth type ball module, wherein the direction of the line connecting two ball modules in the same group is perpendicular to the movement direction; The four rod modules perpendicular to the direction of movement are recorded as first-type rod modules; the eight rod modules parallel to the direction of movement are recorded as second-type rod modules and third-type rod modules respectively; one end of the second-type rod module is connected to the first-type ball module, and the other end is connected to the second-type ball module; or one end of the second-type rod module is connected to the third-type ball module, and the other end is connected to the fourth-type ball module; one end of the third-type rod module is connected to the first-type ball module, and the other end is connected to the fourth-type ball module; or one end of the third-type rod module is connected to the second-type ball module, and the other end is connected to the third-type ball module; planning an expansion sequence of the first type ball module, the second type ball module, the third type ball module, and the fourth type ball module; The telescoping sequence of the first type rod module, the second type rod module and the third type rod module is planned.

7. The multi-terrain motion planning method for a cubic soft robot according to any one of claims 4 to 6, characterized in that: The movement postures include a general posture, a squatting posture, a narrowing posture, a gathering posture and a lifting posture; and the movement modes include a walking movement and a rolling movement.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the multi-terrain motion planning method for a cubic soft robot described in any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is processed and executed, the steps of the multi-terrain motion planning method of the cubic soft robot described in any one of claims 1 to 7 are implemented.

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