A control method for an octahedral soft robot

Abstract

The present invention discloses a control method for an octahedron soft robot. The octahedron soft robot includes twelve edge brake modules and six corner brake modules. The edge brake modules are elongated, with the edge brake modules serving as the edges of the octahedron. The corner brake modules are arranged at the vertices of the octahedron, with each corner brake module connected to four edge brake modules. The corner brake modules can expand away from the center of the octahedron, and the edge brake modules can extend and retract along the length of the edges of the octahedron. By arranging the corner brake modules and edge brake modules at the vertices and edges of the octahedron, respectively, the three-dimensional shape of the octahedron soft robot can be flexibly controlled, thereby facilitating the completion of various action commands and increasing operational flexibility. This allows the octahedron soft robot to cope with various complex environments and achieve diverse functions.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a control method for an octahedral soft robot. Background Art

[0002] With the continuous development of robotics technology, and to adapt to diverse usage environments, a wide range of robots have been developed to assist humans in production, manufacturing, and other tasks. Existing robots utilize various manipulator arms to perform tasks depending on the specific environment. For example, grasping robots require grippers at the free ends of their arms to perform gripping operations. Another example is walking robots, which require legs to coordinate the movement of multiple legs. Furthermore, as people's demands for robotics become increasingly sophisticated, multiple functional components are often integrated into a single robotic platform.

[0003] However, existing robots need to be equipped with many parts to cope with different usage environments, and their structural design is complex and difficult to operate. Robots with simple structures often have a limited scope of use, relatively simple functions, and lack flexibility when facing complex environments.

[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 control method for an octahedral soft robot, aiming to solve the problems of the existing robots' lack of flexibility, single functions, and inability to cope with various usage environments.

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

[0007] A control method for an octahedron soft robot, wherein the octahedron soft robot includes twelve edge brake modules and six corner brake modules, wherein the edge brake modules are in the shape of elongated strips, with the edge brake modules serving as the edges of the octahedron; the corner brake modules are arranged at the vertices of the octahedron, and each corner brake module is connected to four edge brake modules; the corner brake modules can expand in a direction away from the center of the octahedron; and the edge brake modules can extend and retract along the length direction of the edges of the octahedron;

[0008] The control method includes:

[0009] Number the six corner brake modules and the twelve side brake modules respectively;

[0010] According to the action command, the corresponding numbered corner brake module and side brake module are activated, and the action command is executed by changing the posture of the octahedron soft robot;

[0011] After completing the action instruction, the control angle brake module and the side brake module are restored to the initial state.

[0012] The control method of the octahedral soft robot is as follows: the corner brake module includes a base and an inflatable airbag arranged at the center of the base, the base includes four square connecting plates connected head to tail, and the four square connecting plates are arranged around the inflatable airbag; the inflatable airbag is connected to a gas delivery pipeline for inflation and deflation; the four side brake modules connected to the corner brake module are respectively connected to one of the square connecting plates.

[0013] The control method of the octahedral soft robot is as follows: the side brake module includes a hollow film airbag and a sponge module filled in the film airbag; the film airbag is connected to a gas pipe for inflation and deflation to make the side brake module expand and contract.

[0014] The control method of the octahedral soft robot is as follows: the film airbag is cylindrical in shape, and a first magnetic component is provided at both ends of the film airbag; a second magnetic component is provided on the side of the square connecting plate facing the inflatable airbag; the first magnetic component is magnetically connected to the second magnetic component.

[0015] In the control method of the octahedral soft robot, the step of numbering the six corner brake modules and the twelve side brake modules comprises:

[0016] The three corner brake modules in contact with the support surface along the long axis direction of the octahedron soft robot are numbered as a first expansion unit, a second expansion unit, and a third expansion unit, wherein the first expansion unit and the second expansion unit are located in the middle of the octahedron soft robot, and the third expansion unit is located at the rear end of the octahedron soft robot;

[0017] The three corner brake modules that are not in contact with the supporting surface are numbered as the fourth expansion unit, the fifth expansion unit, and the sixth expansion unit, wherein the fourth expansion unit and the fifth expansion unit are located in the middle of the octahedral soft robot, and the sixth expansion unit is located at the front end of the octahedral soft robot;

[0018] The side brake module between the first expansion unit and the second expansion unit is numbered as the first telescopic unit;

[0019] The side brake module between the second expansion unit and the third expansion unit is numbered as the second telescopic unit;

[0020] The side brake module between the first expansion unit and the third expansion unit is numbered as the third expansion unit;

[0021] The side brake module between the fourth expansion unit and the fifth expansion unit is numbered as the fourth telescopic unit;

[0022] The side brake module between the fifth expansion unit and the sixth expansion unit is numbered as the fifth telescopic unit;

[0023] The side brake module between the fourth expansion unit and the sixth expansion unit is numbered as the sixth telescopic unit;

[0024] The side brake module between the first expansion unit and the fourth expansion unit is numbered as the seventh expansion unit;

[0025] The side brake module between the first expansion unit and the sixth expansion unit is numbered as the eighth expansion unit;

[0026] The side brake module between the second expansion unit and the fifth expansion unit is numbered as the ninth expansion unit;

[0027] The side brake module between the second expansion unit and the sixth expansion unit is numbered as the tenth expansion unit;

[0028] The side brake module between the third expansion unit and the fourth expansion unit is numbered as the eleventh expansion unit;

[0029] The side brake module between the third expansion unit and the fifth expansion unit is numbered as the twelfth expansion unit.

[0030] The control method of the octahedral soft robot, wherein the step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes:

[0031] When a walking instruction is received, the first expansion unit and the second expansion unit are planned as front anchor point modules; the third expansion unit is planned as a rear anchor point module; the second telescopic unit, the third telescopic unit, the fifth telescopic unit, and the sixth telescopic unit are planned as telescopic modules;

[0032] Expanding the front anchor module to anchor the ground; and moving the rear anchor module forward by contracting the telescopic module;

[0033] The front anchor module is contracted and the rear anchor module is expanded so that the rear anchor module is anchored to the ground; and the front anchor module is caused to creep forward by extending the telescopic module.

[0034] The control method of the octahedral soft robot, wherein the step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes:

[0035] When a rollover instruction is received, the third expansion unit is planned as a rollover head module; the second telescopic unit, the third telescopic unit, the fifth telescopic unit and the sixth telescopic unit are planned as rollover arm modules;

[0036] Reducing the critical rolling angle of the octahedral soft robot by contracting the rolling arm module;

[0037] The rolling head module is expanded to lift the octahedral soft robot and push the octahedral soft robot forward to roll.

[0038] The control method of the octahedral soft robot, wherein the step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes:

[0039] When a twisting instruction is received, the seventh telescopic unit, the tenth telescopic unit, and the twelfth telescopic unit are contracted simultaneously.

[0040] The control method of the octahedral soft robot, wherein the step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes:

[0041] When a grab instruction is received, the fourth retractable unit, the fifth retractable unit, and the sixth retractable unit are retracted simultaneously.

[0042] The present application also discloses a computer device, 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 control method of the octahedral soft robot as described above are implemented.

[0043] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0044] The octahedron soft robot disclosed in the present invention is assembled into a three-dimensional structure using side brake modules and corner brake modules. The overall shape is an octahedron with a high degree of symmetry. Therefore, it can be flexibly controlled by determining the control method based on the specific circumstances during actual use without distinguishing between up, down, left, and right. Specifically, the edge of each face of the octahedron soft robot is provided with three side brake modules and three corner brake modules that are alternately connected. Each plane can be deformed, twisted, and other actions. Therefore, when in use, the overall shape of the octahedron soft robot can be changed by retracting the side brake modules and expanding the corner brake modules, thereby flexibly completing movement, rolling, twisting, grasping, and other action instructions. It has diverse functions, is conducive to coping with complex use environments, and improves the use value of the octahedron soft robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 Schematic diagram of the structure of the octahedral soft robot in the present invention;

[0047] Figure 2 This is a simplified structural diagram of the octahedral soft robot of the present invention;

[0048] Figure 3 A cross-sectional view of the side brake module along the length direction of the present invention;

[0049] Figure 4 Flowchart of the control method of the octahedral soft robot in the present invention;

[0050] Figure 5 Another schematic diagram of the structure of the octahedral soft robot of the present invention;

[0051] Figure 6 This is a diagram showing the deformation process of the octahedron soft robot performing a twisting motion in the present invention;

[0052] Figure 7 This is a diagram showing the deformation process of the octahedron soft robot performing a grasping action in the present invention;

[0053] Figure 8 This is a simplified structural diagram of the octahedral soft robot in the load state of the present invention.

[0054] Among them, 100, side brake module; 110, film airbag; 120, sponge module; 130, gas pipeline; 200, corner brake module; 210, base; 211, square connecting plate; 220, inflatable airbag; 230, gas delivery pipeline; 31, first expansion unit; 32, second expansion unit; 33, third expansion unit; 34, fourth expansion unit; 35, fifth expansion unit; 36, sixth expansion unit; 41, first telescopic unit; 42, second telescopic unit; 43, third telescopic unit; 44, fourth telescopic unit; 45, fifth telescopic unit; 46, sixth telescopic unit; 47, seventh telescopic unit; 48, eighth telescopic unit; 49, ninth telescopic unit; 50, tenth telescopic unit; 51, eleventh telescopic unit; 52, twelfth telescopic unit. DETAILED DESCRIPTION

[0055] 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.

[0056] See Figure 1 and Figure 2 In one embodiment of the present invention, an octahedron soft robot is disclosed, which includes twelve side brake modules 100 and six corner brake modules 200. The side brake modules 100 are in the shape of a long strip, with the side brake modules 100 as the edges of the octahedron; the corner brake modules 200 are arranged on the vertices of the octahedron, and each of the corner brake modules 200 is connected to four side brake modules 100; the corner brake modules 200 can expand in a direction away from the center of the octahedron; and the side brake modules 100 can stretch and retract along the length direction of the edges of the octahedron.

[0057] The octahedral soft robot disclosed in this embodiment is assembled into a three-dimensional structure using an edge brake module 100 and a corner brake module 200. The overall shape is an octahedron with a high degree of symmetry. Therefore, it does not distinguish between up, down, left, and right. Instead, the control method is determined according to the specific circumstances during actual use, and control is performed flexibly.

[0058] Specifically, the edge of each face of the octahedron soft robot is provided with three side brake modules 100 and three corner brake modules 200 that are alternately connected. Each plane can perform deformation, twisting and other actions. Therefore, when in use, the overall shape of the octahedron soft robot can be changed by extending the side brake module 100 and expanding the angle brake module 200, and then flexibly completing movement, rolling, twisting, grasping and other action instructions. It has diverse functions, is conducive to coping with complex usage environments, and improves the use value of the octahedron soft robot.

[0059] like Figure 4 As shown, the present application also discloses a control method for an octahedral soft robot, which includes:

[0060] S100, numbering the six corner brake modules 200 and the twelve side brake modules 100 respectively;

[0061] S200, starting the corresponding numbered corner brake module 200 and side brake module 100 according to the action instruction, and executing the action instruction by changing the posture of the octahedral soft robot;

[0062] S300 , after completing the action instruction, the corner brake module 200 and the side brake module 100 are controlled to return to the initial state.

[0063] The control method disclosed in this embodiment first numbers the modules according to the actual use environment and then places them in the correct positions, thereby controlling the corner brake module 200 and the side brake module 100 in turn to adjust the posture of the octahedral soft robot. The control process is accurate and efficient, which helps the octahedral soft robot better adapt to complex terrain and increase its use value.

[0064] like Figure 3 As shown, as an implementation method in this embodiment, it is disclosed that the side brake module 100 includes a hollow film airbag 110 and a sponge module 120 filled in the film airbag 110. The film airbag 110 is connected to a gas pipe 130 for inflation and deflation to make the side brake module 100 expand and contract.

[0065] In this embodiment, a sponge module 120 is provided as a support to provide the frame of the octahedron soft robot with a fixed shape, thereby maintaining the stability of the three-dimensional structure. The film airbag 110 is provided as a plastic film airbag 110. The length of the film airbag 110 is controlled by inflating and deflating the film airbag 110. When there is negative pressure in the film airbag 110, the sponge is compressed; when the film airbag 110 is inflated, the sponge expands and stretches together with the film airbag 110. Therefore, by providing the film airbag 110 to wrap the sponge module 120, a retractable elongated edge brake module 100 can be produced. The length of the edge brake module 100 can be accurately controlled by inflating and deflating the gas pipe 130, thereby cooperating with the corner brake module 200 to complete the deformation movement of the octahedron soft robot.

[0066] For example Figure 1 As shown, as another implementation in this embodiment, the corner brake module 200 is disclosed to include a base 210 and an inflatable airbag 220 arranged at the center of the base 210, the base 210 includes four square connecting plates 211 connected head to tail, and the four square connecting plates 211 are arranged around the inflatable airbag 220; the inflatable airbag 220 is connected to a gas delivery pipe 230 for inflation and deflation; the four side brake modules 100 connected to the corner brake module 200 are respectively connected to one of the square connecting plates 211.

[0067] In this embodiment, the inflatable airbag 220 can be a rubber or latex balloon that expands when inflated and automatically contracts when deflated. The base 210 surrounds the inflatable airbag 220 to secure it. This ensures that the inflatable airbag 220 expands away from the center of the octahedron rather than laterally, thereby protruding from the base 210. This causes the octahedron's vertices to protrude, increasing contact between the octahedron's vertices and the contact surface, thereby anchoring or elevating the octahedron soft robot.

[0068] Secondly, in order to connect the side brake module 100, the base 210 is connected into one through four square connecting plates 211. The four square connecting plates 211 are respectively connected to the ends of the four side brake modules 100, thereby forming a three-dimensional stable structure. Moreover, the connections between the four side brake modules 100 and the corner brake module 200 are independent of each other, so they can extend and retract independently without interfering with each other, which is conducive to high-precision control of the movements of the octahedron soft robot.

[0069] Specifically, as another implementation in this embodiment, it is disclosed that the shape of the film airbag 110 is cylindrical, and a first magnetic component is provided at both ends of the film airbag 110; a second magnetic component is provided on the side of the square connecting plate 211 facing the inflatable airbag 220; the first magnetic component is magnetically connected to the second magnetic component.

[0070] The corner brake module 200 and side brake module 100 disclosed in this embodiment are detachably connected via first and second magnetic members. This provides a stable and secure structure when connected, yet allows for flexible and easy disassembly. The octahedral soft robot in this embodiment is easily assembled and disassembled, requiring only brute force to separate the first and second magnetic members. This facilitates repair and component replacement, and also facilitates rapid reconfiguration of the robot structure.

[0071] Specifically, at least one of the first magnetic attraction component and the second magnetic attraction component disclosed in this embodiment is a magnet, and the other can be a magnet or an iron metal block. The two can generate attraction between each other, thereby realizing the docking of the corner brake module 200 and the edge brake module 100, and the force generated by the magnetic connection is long-lasting and stable and not easy to loosen, thereby improving the stability of the overall structure of the octahedron soft robot.

[0072] like Figure 5 As shown, as another implementation in this embodiment, step S100 is disclosed to specifically include:

[0073] S101, numbering the three corner brake modules 200 in contact with the support surface along the long axis direction of the octahedron soft robot as a first expansion unit 31, a second expansion unit 32, and a third expansion unit 33, wherein the first expansion unit 31 and the second expansion unit 32 are located in the middle of the octahedron soft robot, and the third expansion unit 33 is located at the rear end of the octahedron soft robot;

[0074] S102, numbering the three corner brake modules 200 that are not in contact with the supporting surface as a fourth expansion unit 34, a fifth expansion unit 35, and a sixth expansion unit 36, wherein the fourth expansion unit 34 and the fifth expansion unit 35 are located in the middle of the octahedral soft robot, and the sixth expansion unit 36 ​​is located at the front end of the octahedral soft robot;

[0075] S103, numbering the edge braking module 100 between the first expansion unit 31 and the second expansion unit 32 as a first telescopic unit 41;

[0076] S104, numbering the side brake module 100 between the second expansion unit 32 and the third expansion unit 33 as a second telescopic unit 42;

[0077] S105, numbering the side brake module 100 between the first expansion unit 31 and the third expansion unit 33 as a third telescopic unit 43;

[0078] S106, numbering the side brake module 100 between the fourth expansion unit 34 and the fifth expansion unit 35 as the fourth telescopic unit 44;

[0079] S107, numbering the side brake module 100 between the fifth expansion unit 35 and the sixth expansion unit 36 ​​as the fifth telescopic unit 45;

[0080] S108, numbering the side brake module 100 between the fourth expansion unit 34 and the sixth expansion unit 36 ​​as the sixth telescopic unit 46;

[0081] S109, numbering the side brake module 100 between the first expansion unit 31 and the fourth expansion unit 34 as the seventh expansion unit 47;

[0082] S110, numbering the side brake module 100 between the first expansion unit 31 and the sixth expansion unit 36 ​​as the eighth telescopic unit 48;

[0083] S111, numbering the side brake module 100 between the second expansion unit 32 and the fifth expansion unit 35 as a ninth expansion unit 49;

[0084] S112, numbering the side brake module 100 between the second expansion unit 32 and the sixth expansion unit 36 ​​as the tenth expansion unit 50;

[0085] S113, numbering the side braking module 100 between the third expansion unit 33 and the fourth expansion unit 34 as the eleventh telescopic unit 51;

[0086] S114 , numbering the side braking module 100 between the third expansion unit 33 and the fifth expansion unit 35 as the twelfth expansion unit 52 .

[0087] The control method disclosed in this embodiment classifies the six corner brake modules 200 according to whether they are in contact with the contact surface, and classifies the twelve side brake modules 100 according to the connection relationship between the six corner brake modules 200 and the twelve side brake modules 100, so that each corner brake module 200 and each side brake module 100 are numbered with reference to the contact surface, which facilitates independent control and further facilitates the coordination of the retraction and extension degrees between the various brake modules, so as to achieve the effect of quickly and stably completing the command actions of the octahedral soft robot.

[0088] Specifically, as another implementation in this embodiment, step S200 is disclosed to specifically include:

[0089] S211: When a walking instruction is received, the first expansion unit 31 and the second expansion unit 32 are planned as front anchor modules; the third expansion unit 33 is planned as a rear anchor module; the second telescopic unit 42, the third telescopic unit 43, the fifth telescopic unit 45, and the sixth telescopic unit 46 are planned as telescopic modules;

[0090] S212, expanding the front anchor module to anchor the ground; and moving the rear anchor module forward by contracting the telescopic module;

[0091] S213, contracting the front anchor module and expanding the rear anchor module so that the rear anchor module is anchored to the ground; and extending the telescopic module so that the front anchor module creeps forward.

[0092] This embodiment discloses a control method that first anchors the ground and then controls the telescopic module to "creep" when receiving a walking command. By moving in a bionic worm-like manner, the walking command of the octahedral soft robot can be completed. There is no need to set up structures such as legs or rollers, and it can move flexibly in complex terrain. Moreover, the front anchor point module and the rear anchor point module form a triangular distribution, and the structure has good stability, which is conducive to improving the safety of the action.

[0093] Specifically, as another implementation in this embodiment, step S200 is disclosed to specifically include:

[0094] S221, when a rollover instruction is received, planning the third expansion unit 33 as a rollover head module; planning the second telescopic unit 42, the third telescopic unit 43, the fifth telescopic unit 45 and the sixth telescopic unit 46 as a rollover arm module;

[0095] S222, reducing the critical rolling angle of the octahedral soft robot by contracting the rolling arm module;

[0096] S223. Expand the rolling head module to lift the octahedral soft robot and push the octahedral soft robot forward to roll.

[0097] This embodiment discloses that upon receiving a roll command, the roll arm module is first retracted, causing both the rear and front ends of the octahedron soft robot to retract simultaneously, shortening the overall length and thereby reducing the critical roll angle. This reduces the stability of the overall structure, making it more prone to tipping forward. The roll head module is then expanded, lifting the octahedron soft robot, shifting its center of gravity forward and ultimately tipping forward, performing a roll. This embodiment leverages the octahedron soft robot's own gravity to achieve a roll by shifting the center of gravity of the overall structure. This operation is labor-saving, requires fewer steps, and is easy to control.

[0098] like Figure 6 As shown, as another implementation in this embodiment, step S200 is disclosed to specifically include:

[0099] S231 : When a twisting instruction is received, the seventh telescopic unit 47 , the tenth telescopic unit 50 , and the twelfth telescopic unit 52 are simultaneously contracted.

[0100] In this embodiment, the seventh telescopic unit 47, the tenth telescopic unit 50 and the twelfth telescopic unit 52 are controlled to contract, so that the fourth expansion unit 34, the fifth expansion unit 35 and the sixth expansion unit 36 ​​on the top surface parallel to the contact surface of the octahedral soft robot all lose support, thereby causing lateral rotation at the same time. From an overall perspective, the upper half of the octahedral soft robot is twisted relative to the lower half, and the direction of the robot can be changed to facilitate turning or rolling.

[0101] Specifically, in another implementation of this embodiment, the twisting can be performed in different directions according to different actual conditions. For example, referring to Figure 5 and Figure 6 For example, when a clockwise twist command is received, the seventh telescopic unit 47, the tenth telescopic unit 50, and the twelfth telescopic unit 52 are simultaneously contracted to complete the twisting action; when a counterclockwise twist command is received, the eighth telescopic unit 48, the ninth telescopic unit 49, and the eleventh telescopic unit 51 are simultaneously contracted to complete the twisting action. This further improves the flexibility of the octahedron soft robot and allows it to better adapt to actual usage environments.

[0102] like Figure 7 As shown, as another implementation in this embodiment, step S200 is disclosed to specifically include:

[0103] S241 : When a grab instruction is received, shrink the fourth telescopic unit 44 , the fifth telescopic unit 45 , and the sixth telescopic unit 46 simultaneously.

[0104] The fourth telescopic unit 44, the fifth telescopic unit 45 and the sixth telescopic unit 46 disclosed in this embodiment are connected head to tail to form the top surface of the octahedron soft robot. When the three are contracted at the same time, the top surface frame of the octahedron soft robot will be reduced, that is, the distance between the fourth telescopic unit 44, the fifth telescopic unit 45 and the sixth telescopic unit 46 will be reduced. By adjusting the spacing between the three, the object can be clamped to achieve a grasping effect.

[0105] like Figure 8 As shown, in another embodiment of this invention, the octahedral soft robot is constructed by forming an octahedral frame with a side brake module 100 and a corner brake module 200. The frame has a large internal space, so it can be used empty or loaded. The frame can be filled with loads and transported by the robot.

[0106] In 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 control method of the octahedral soft robot as described above are implemented.

[0107] In summary, the present application discloses a control method for an octahedron soft robot, wherein the octahedron soft robot includes twelve edge brake modules 100 and six corner brake modules 200. The edge brake modules 100 are in the shape of an elongated strip, with the edge brake modules 100 serving as the edges of the octahedron; the corner brake modules 200 are arranged at the vertices of the octahedron, and each corner brake module 200 is connected to four edge brake modules 100; the corner brake modules 200 can expand in a direction away from the center of the octahedron; and the edge brake modules 100 can extend and retract along the length direction of the edges of the octahedron. The octahedron soft robot disclosed in this embodiment utilizes the edge brake modules 100 and the corner brake modules 200 to assemble into a three-dimensional structure. The overall structure is an octahedron with a high degree of symmetry. Therefore, it is not necessary to distinguish between up, down, left, and right. Instead, the control method can be determined based on the specific circumstances during actual use, allowing for flexible control. Specifically, the edges of each face of the octahedron soft robot are provided with three side brake modules 100 and three corner brake modules 200 that are alternately connected. Each plane can perform deformation, twisting and other action instructions. Therefore, when in use, the overall shape of the octahedron soft robot can be changed by extending the side brake module 100 and expanding the angle brake module 200, and then flexibly completing movements such as moving, rolling, twisting, and grasping. It has diverse functions, is conducive to coping with complex usage environments, and improves the use value of the octahedron soft robot.

[0108] 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.

[0109] It should be noted that the present invention takes an octahedral 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 octahedral soft robots, and can also be applied to the production and use of other similar workpieces.

[0110] 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.

[0111] 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 control method for an octahedral soft robot, characterized in that: The octahedron soft robot includes twelve side brake modules and six corner brake modules. The side brake modules are in the shape of long strips, with the side brake modules as the edges of the octahedron. The corner brake modules are arranged at the vertices of the octahedron, and each corner brake module is connected to four side brake modules. The corner brake module can expand in a direction away from the center of the octahedron; the side brake module can expand and contract along the length direction of the edge of the octahedron; The control method includes: Number the six corner brake modules and the twelve side brake modules respectively; According to the action command, the corresponding numbered corner brake module and side brake module are activated, and the action command is executed by changing the posture of the octahedron soft robot; After completing the action instruction, the control angle brake module and the side brake module are restored to the initial state.

2. The control method of the octahedral soft robot according to claim 1, characterized in that: The corner brake module includes a base and an inflatable airbag arranged at the center of the base. The base includes four square connecting plates, and two adjacent sides of the four square connecting plates are respectively connected to two adjacent square connecting plates. The four square connecting plates are arranged around the inflatable airbag. The inflatable airbag is connected to a gas delivery pipe for inflation and deflation. Wherein, the four side brake modules connected to the corner brake module are respectively connected to one of the square connecting plates.

3. The control method of the octahedral soft robot according to claim 2, characterized in that: The side brake module includes a hollow film airbag and a sponge module filled in the film airbag. The film airbag is connected to a gas pipeline for inflation and deflation to make the side brake module expand and contract.

4. The control method of the octahedral soft robot according to claim 3, characterized in that: The film airbag is cylindrical in shape, and first magnetic parts are provided at both ends of the film airbag; a second magnetic part is provided on the side of the square connecting plate facing the inflatable airbag; the first magnetic part is magnetically connected to the second magnetic part.

5. The control method of the octahedral soft robot according to claim 1, characterized in that: The step of numbering the six corner brake modules and the twelve side brake modules respectively specifically includes: The three corner brake modules in contact with the support surface along the long axis direction of the octahedron soft robot are numbered as a first expansion unit, a second expansion unit, and a third expansion unit, wherein the first expansion unit and the second expansion unit are located in the middle of the octahedron soft robot, and the third expansion unit is located at the rear end of the octahedron soft robot; The three corner brake modules that are not in contact with the supporting surface are numbered as the fourth expansion unit, the fifth expansion unit, and the sixth expansion unit, wherein the fourth expansion unit and the fifth expansion unit are located in the middle of the octahedral soft robot, and the sixth expansion unit is located at the front end of the octahedral soft robot; The side brake module between the first expansion unit and the second expansion unit is numbered as the first telescopic unit; The side brake module between the second expansion unit and the third expansion unit is numbered as the second telescopic unit; The side brake module between the first expansion unit and the third expansion unit is numbered as the third expansion unit; The side brake module between the fourth expansion unit and the fifth expansion unit is numbered as the fourth telescopic unit; The side brake module between the fifth expansion unit and the sixth expansion unit is numbered as the fifth telescopic unit; The side brake module between the fourth expansion unit and the sixth expansion unit is numbered as the sixth telescopic unit; The side brake module between the first expansion unit and the fourth expansion unit is numbered as the seventh expansion unit; The side brake module between the first expansion unit and the sixth expansion unit is numbered as the eighth expansion unit; The side brake module between the second expansion unit and the fifth expansion unit is numbered as the ninth expansion unit; The side brake module between the second expansion unit and the sixth expansion unit is numbered as the tenth expansion unit; The side brake module between the third expansion unit and the fourth expansion unit is numbered as the eleventh expansion unit; The side brake module between the third expansion unit and the fifth expansion unit is numbered as the twelfth expansion unit.

6. The control method of the octahedral soft robot according to claim 5, characterized in that: The step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes: When a walking instruction is received, the first expansion unit and the second expansion unit are planned as front anchor point modules; the third expansion unit is planned as a rear anchor point module; the second telescopic unit, the third telescopic unit, the fifth telescopic unit, and the sixth telescopic unit are planned as telescopic modules; Expanding the front anchor module to anchor the ground; and moving the rear anchor module forward by contracting the telescopic module; The front anchor module is contracted and the rear anchor module is expanded so that the rear anchor module is anchored to the ground; and the front anchor module is caused to creep forward by extending the telescopic module.

7. The control method of the octahedral soft robot according to claim 5, characterized in that: The step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes: When a rollover instruction is received, the third expansion unit is planned as a rollover head module; the second telescopic unit, the third telescopic unit, the fifth telescopic unit and the sixth telescopic unit are planned as rollover arm modules; Reducing the critical rolling angle of the octahedral soft robot by contracting the rolling arm module; The rolling head module is expanded to lift the octahedral soft robot and push the octahedral soft robot forward to roll.

8. The control method of the octahedral soft robot according to claim 5, characterized in that: The step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes: When a twisting instruction is received, the seventh telescopic unit, the tenth telescopic unit, and the twelfth telescopic unit are contracted simultaneously.

9. The control method of the octahedral soft robot according to claim 5, characterized in that: The step of activating the corresponding numbered corner brake modules and side brake modules according to the action instruction to change the posture of the octahedral soft robot specifically includes: When a grab instruction is received, the fourth retractable unit, the fifth retractable unit, and the sixth retractable unit are retracted simultaneously.

10. 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 control method of the octahedral soft robot according to any one of claims 1 to 9 are implemented.

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