Edge-surface composite variable-stiffness multi-body structured soft robot and control method thereof

Abstract

The invention discloses an edge-surface composite variable-stiffness multi-body structured soft robot and a control method thereof. The edge-surface composite variable-stiffness multi-body structured soft robot comprises a plurality of composite variable-stiffness soft robots or a plurality of sponge driving modules; the composite variable-stiffness soft robot comprises a plurality of sponge driving modules, a plurality of side variable-stiffness modules and a plurality of surface variable-stiffness modules, all the composite variable-stiffness soft robots are arranged according to the arrangement form corresponding to the preset reconstruction mode, and the multi-body reconstruction soft robot is formed by taking the surface variable-stiffness modules or the sponge driving modules as connecting pieces. According to the multi-body structured soft robot disclosed by the invention, a plurality of soft robots in different modes are modularly reconstructed through the composite variable-stiffness soft robot, and accurate control and stiffness adjustment on multiple degrees of freedom are realized through cooperative control on each module; the reconstructed software robot can adapt to different complex application scenes based on large-range rigidity changes, and has high flexibility and adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces and a control method thereof. Background Art

[0002] Traditional modular soft robots, due to their modular design, may lead to a high degree of coupling between modules, which in turn affects the scalability of the soft robots. In addition, modular design may lead to complex communication methods, which not only affects the maintainability of the entire robot system, but also increases the difficulty of controlling multiple degrees of freedom. It is difficult to achieve rapid morphological reconstruction and behavior adjustment in complex scenarios, which limits the flexibility and adaptability in practical applications.

[0003] Therefore, the prior art needs further improvement. Summary of the invention

[0004] In view of the shortcomings in the above-mentioned related technologies, the purpose of the present invention is to provide a multi-body reconstructible soft robot with composite variable stiffness on edges and surfaces and a control method thereof, so as to overcome the defect that the flexibility and stability of the soft robots in the prior art cannot meet the requirements in complex scenarios.

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

[0006] In a first aspect, the present application discloses a multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces, wherein the multi-body reconfigurable soft robot comprises: a plurality of composite variable stiffness soft robots, or the multi-body reconfigurable soft robot comprises: a plurality of composite variable stiffness soft robots and a plurality of sponge driving modules;

[0007] The composite variable stiffness soft robot comprises: at least one sponge driving module, an edge variable stiffness module and a surface variable stiffness module;

[0008] The sponge driving module is a polyhedral structure, the edge variable stiffness module is arranged on the edge of the sponge driving module; the surface variable stiffness module is attached to the surface of the sponge driving module;

[0009] The edge-variable stiffness module is controlled to expand and contract to drive the corresponding edge of the sponge drive module to deform;

[0010] The edge-variable stiffness module and / or the surface-variable stiffness module are controlled to expand or contract to achieve stiffness changes, so as to comply with or prevent the corresponding edges and corresponding surfaces of the sponge driving module from deforming;

[0011] Each composite variable stiffness soft robot is arranged in a form corresponding to a preset reconstruction mode, and the surface variable stiffness module is used as a connecting part to form a multi-body reconfigurable soft robot;

[0012] Alternatively, each composite variable stiffness soft robot is arranged in a form corresponding to a preset reconstruction mode, with the surface variable stiffness module and the sponge driving module as connecting parts to form a multi-body reconfigurable soft robot.

[0013] Optionally, the preset reconstruction modes include: a foot-shaped reconstruction mode, an arm-shaped reconstruction mode, a claw-shaped reconstruction mode and a foot-arm composite reconstruction mode; the foot-shaped reconstruction mode corresponds to an arrangement form of a foot, the arm-shaped reconstruction mode corresponds to an arrangement form of an arm, the claw-shaped reconstruction mode corresponds to an arrangement form of a claw, and the foot-arm composite reconstruction mode corresponds to an arrangement form of a composite form of a foot and an arm.

[0014] Optionally, the multi-body reconstructible soft robot corresponding to the foot shape reconstruction mode includes at least 4 compound variable stiffness soft robots and at least 2 sponge driving modules; wherein, the first compound variable stiffness soft robot and the second compound variable stiffness soft robot are used as the front support part and the rear support part respectively, the first sponge driving module is arranged on the upper surface of the first compound variable stiffness soft robot, and the second sponge driving module is arranged on the second compound variable stiffness soft robot, the first sponge driving module is used as a connecting part, and the third compound variable stiffness soft robot is connected to one side of the first sponge driving module, and the second sponge driving module is used as a connecting part, and the fourth compound variable stiffness soft robot is connected to one side of the second sponge driving module, and the opposite surfaces of the connection surfaces of the third compound variable stiffness soft robot and the first sponge driving module and the opposite surfaces of the connection surfaces of the fourth compound variable stiffness soft robot and the second sponge driving module are connected, so as to construct a multi-body reconstructible soft robot corresponding to the foot shape reconstruction mode.

[0015] Optionally, the multi-body reconfigurable soft robot corresponding to the arm-shape reconstruction mode includes multiple compound variable stiffness soft robots; wherein, a connection is established between a surface variable stiffness module on the lower surface of the compound variable stiffness soft robot located in the upper layer and a surface variable stiffness module on the upper surface of the compound variable stiffness soft robot located in the lower layer, so as to construct a multi-body reconfigurable soft robot corresponding to the arm-shape reconstruction mode in which each compound variable stiffness soft robot is arranged in sequence from top to bottom.

[0016] Optionally, the multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode includes multiple compound variable stiffness soft robots; each compound variable stiffness soft robot is connected by an edge variable stiffness module on adjacent edges to form a multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode.

[0017] Optionally, the multi-body reconfiguration soft robot corresponding to the foot-arm composite shape reconstruction mode includes two groups of multi-body reconfiguration soft robots corresponding to the foot shape reconstruction mode and one group of multi-body reconfiguration software robots corresponding to the arm shape reconstruction mode connected through sponge driving modules, and the multi-body reconfiguration software robot corresponding to the arm shape reconstruction mode is arranged above the multi-body reconfiguration soft robot corresponding to the foot shape reconstruction mode.

[0018] Optionally, the sponge driving module includes a first airbag filled with a flexible material, and the first airbag is connected to a first gas pipeline so as to inflate or deflate the first airbag through the first gas pipeline to drive the sponge driving module to expand or contract.

[0019] Optionally, a bellows structure and a second gas pipeline connected to the bellows structure are used to inflate or deflate the bellows structure through the second gas pipeline, thereby driving the bellows structure to axially expand and contract, thereby driving the deformation of the corresponding edges of the sponge driving module; wherein the bellows structure is used to prevent the radial expansion of the edge variable stiffness module and to realize the axial expansion and contraction of the edge variable stiffness module.

[0020] Optionally, the surface variable stiffness module includes: a second airbag, the interior of the second airbag is filled with sandpaper and a honeycomb sandwich panel, and pre-folds are arranged on the sandpaper and the honeycomb sandwich panel; the second airbag is connected to a third gas pipeline, and the third gas pipeline is used to inflate or deflate the second airbag to achieve an increase or decrease in the bending stiffness of the surface variable stiffness module, and cooperate with the pre-fold to prevent or comply with the pre-deformation of the corresponding surface of the sponge driving module.

[0021] In a second aspect, the present application discloses a control method for a multi-body reconfigurable soft robot with compound variable stiffness on edges and surfaces, wherein the control method is applied to the multi-body reconfigurable soft robot with compound variable stiffness on edges and surfaces;

[0022] Obtaining morphological control instructions for a multi-body reconfigurable soft robot;

[0023] According to the morphological control instruction, the sponge driving module is controlled to expand and contract, and the edge variable stiffness module and / or the surface variable stiffness module are changed to realize the edge and surface composite variable stiffness multi-body reconstruction software machine to execute the deformation corresponding to the morphological control instruction.

[0024] Beneficial effects:

[0025] The present embodiment discloses a multi-body reconfigurable soft robot with composite variable stiffness on edges and a control method thereof, wherein the multi-body reconfigurable soft robot comprises: a plurality of composite variable stiffness soft robots, or the multi-body reconfigurable soft robot comprises: a plurality of composite variable stiffness soft robots and a plurality of sponge drive modules; each composite variable stiffness soft robot is arranged in a manner corresponding to a preset reconstruction mode, and the face variable stiffness module is used as a connecting member to form a multi-body reconfigurable soft robot; or each composite variable stiffness soft robot is arranged in a manner corresponding to a preset reconstruction mode, and the face variable stiffness module and the sponge drive module are used as connecting members to form a multi-body reconfigurable soft robot. The multi-body reconfigurable soft robot disclosed in the present application is modularly reconstructed into soft robots of various different modes through composite variable stiffness soft robots, and precise control and stiffness adjustment on multiple degrees of freedom are achieved through coordinated control of each module, so that the reconstructed software robot can adapt to different complex application scenarios based on a wide range of stiffness changes, and has high flexibility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of a multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces disclosed in an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a composite variable stiffness soft robot according to an embodiment of the present invention;

[0028] Figure 3 is a structural schematic diagram of a sponge driving module in an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the external structure of the edge-variable stiffness module in an embodiment of the present invention;

[0030] Figure 5a It is a schematic structural diagram of a nested combination of a first columnar inflatable airbag and a second multi-columnar inflatable airbag in an edge-variable stiffness module according to an embodiment of the present invention;

[0031] Figure 5b Schematic diagram of the structure in which the first columnar inflatable airbag and the second multi-column inflatable airbag in the edge-variable stiffness module in the embodiment of the present invention are independent of each other;

[0032] Figure 6 Figure a is a schematic diagram of the three-dimensional structure of the first columnar inflatable airbag in this embodiment, and Figure b is a schematic diagram of the side structure of the first columnar inflatable airbag;

[0033] Figure 7 Figure a is a schematic diagram of the three-dimensional structure of the first columnar inflatable airbag in this embodiment from one side, and Figure b is a schematic diagram of the structure of the second columnar inflatable airbag from the other side;

[0034] Figure 8is a cross-sectional view and a front view of an edge-variable stiffness module in an embodiment of the present invention;

[0035] Fig. 9 is a cross-sectional side view of an edge-variable stiffness module in an embodiment of the present invention;

[0036] Fig.10 Schematic diagram of the internal structure of the sealing cover in this embodiment;

[0037] Fig.11 is a schematic structural diagram of a surface variable stiffness module in an embodiment of the present invention;

[0038] Fig.12 is a simplified structural diagram of a robot in multiple deformation states in an embodiment of the present invention;

[0039] Fig.13 is a deformation process diagram of a compound variable stiffness soft robot performing a twisting action in a surface variable stiffness restriction mode in an embodiment of the present invention;

[0040] Fig.14 is a diagram of the deformation process of a composite variable stiffness soft robot performing a bending action in an edge variable stiffness structure restriction mode in an embodiment of the present invention;

[0041] Fig.15 is a diagram of the deformation process of the composite variable stiffness soft robot performing a bending action in the edge contraction structure restriction mode in an embodiment of the present invention;

[0042] Fig.16 is a schematic structural diagram of a foot shape reconfiguration robot according to an embodiment of the present invention;

[0043] Fig.17 is a schematic diagram of the structure of the arm-shaped reconfigurable robot in an embodiment of the present invention;

[0044] Fig.18 is a schematic structural diagram of a claw-shaped reconfigurable robot according to an embodiment of the present invention;

[0045] Fig.19 is a schematic structural diagram of a foot-arm composite reconfigurable robot according to an embodiment of the present invention;

[0046] Fig. 20 is a flow chart of the control method steps of the composite variable stiffness soft robot in an embodiment of the present invention;

[0047] Fig.21 It is a flow chart of the control method steps of the multi-body reconfigurable soft robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] Soft robots are a new type of soft robots that have the characteristics of safe interaction, good adaptability and strong flexibility. Therefore, they are widely used in many fields such as medical care, agriculture, disaster relief and detection.

[0050] Traditional soft robots mostly use a single material or structure, and achieve deformation through air pressure, hydraulic pressure or electric drive. However, these methods often lack effective control of local stiffness in the process of controlling robot deformation, resulting in the inability to maintain good stability, operational accuracy and adaptability in complex environments. In order to improve the operational accuracy of soft robots in complex environments, researchers began to explore soft robots with variable stiffness characteristics. Components with variable stiffness are introduced into the structure of these soft robots to achieve stiffness adjustment under different working conditions, thereby improving the flexibility and stability of soft robots.

[0051] Although existing soft robots can adjust their stiffness by inflating and deflating air, the adjustment range is limited, and it is difficult to achieve a wide range of stiffness changes, especially in scenarios that require rapid response. In addition, the multi-modular design increases the complexity of the control system, making precise control of multiple degrees of freedom more difficult. For example, the synchronous control of multiple pneumatic drive units requires complex algorithms and control accuracy, which increases the difficulty of design and implementation. In addition, when facing complex environments, existing soft robots find it difficult to achieve rapid morphological reconstruction and behavior adjustment, which limits their flexibility and adaptability in practical applications.

[0052] In order to overcome the defects in the above-mentioned prior art, the present application provides a multi-body reconstructed soft robot with composite variable stiffness on edges and faces and a control method thereof, the soft robot comprising: a sponge driving module, an edge variable stiffness module and a surface variable stiffness module; the structure of the sponge driving module is a polyhedron structure, the edge variable stiffness module is arranged on the edge of the sponge driving module; the surface variable stiffness module is attached to the surface of the sponge driving module; on the one hand, the sponge driving module is controlled to expand or contract to provide a deformation driving force; on the other hand, the edge variable stiffness module is controlled to expand or contract to drive the corresponding edge of the sponge driving module to deform; the edge variable stiffness module and / or the surface variable stiffness module are controlled to expand or contract to achieve stiffness changes to comply with or prevent the corresponding edge and corresponding surface of the sponge driving module from deforming. The soft robot disclosed in this embodiment integrates the above-mentioned multiple different types of modules to respectively deal with the deformation of each degree of freedom of the soft robot, realize fine control of the overall and local stiffness of the soft robot, and improve the adaptability and robustness of the soft robot.

[0053] The following is a further description of a multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces and a control method thereof disclosed in this embodiment in conjunction with the accompanying drawings.

[0054] This embodiment provides a multi-body reconfigurable soft robot with edge-surface composite variable stiffness. Figure 1 As shown, the multi-body reconfigurable soft robot includes: a plurality of compound variable stiffness soft robots 1 , or the multi-body reconfigurable soft robot includes: a plurality of compound variable stiffness soft robots 1 and a plurality of sponge driving modules 100 .

[0055] The edge-surface composite variable stiffness multi-body reconfigurable soft robot disclosed in this embodiment is obtained by modularly combining and reconstructing multiple composite variable stiffness soft robots 1, or by modularly arranging and combining multiple composite variable stiffness soft robots and sponge drive modules in a preset arrangement order. Figure 1 As shown, the foot-reshape reconstructed soft robot is composed of four composite variable stiffness soft robots and two sponge drive modules.

[0056] Combination Figure 2 , Figure 3 , Figure 4 and Figure 8 As shown, the composite variable stiffness soft robot comprises: at least one sponge driving module 100, an edge variable stiffness module 200 and a surface variable stiffness module 300. The sponge driving module 100 is a polyhedron structure (for example: a cube, a regular octahedron and a regular dodecahedron), the edge variable stiffness module 200 is arranged at the edge of the sponge driving module 100; the surface variable stiffness module 300 is attached to the surface of the sponge driving module 100.

[0057] Airbags are provided in the edge-variable stiffness module and the surface-variable stiffness module. The airbags are inflated and deflated to change the controlled stiffness of the edge-variable stiffness module and / or the surface-variable stiffness module, thereby conforming to or preventing the corresponding edges and surfaces of the sponge driving module from deforming.

[0058] Each compound variable stiffness soft robot is arranged in a form corresponding to a preset reconstruction mode, with the surface variable stiffness module as a connecting part to form a multi-body reconstructible soft robot; or each compound variable stiffness soft robot is arranged in a form corresponding to a preset reconstruction mode, with the surface variable stiffness module and the sponge driving module as connecting parts to form a multi-body reconstructible soft robot.

[0059] Combination Figure 2As shown, the sponge driving module 100 is located in the middle position and has a cubic structure. The edge variable stiffness module 200 is arranged at the edge of the sponge driving module 100; the surface variable stiffness module 300 is attached to the surface of the sponge driving module 100, so as to realize that the edge variable stiffness module increases stiffness by inflation and reduces stiffness by deflation, and realizes that the surface variable stiffness module reduces stiffness by inflation and increases stiffness by deflation, so as to cope with the deformation of the sponge driving module. In detail, the sponge driving module is controlled to expand or contract to provide a deformation driving force; the edge variable stiffness module is controlled to expand or contract to match the deformation of the corresponding edge of the sponge driving module; the surface variable stiffness module is controlled to expand or contract to match the deformation of the corresponding surface of the sponge driving module.

[0060] In one implementation, the sponge driving module is shaped as a cube, the surface variable stiffness module is shaped as a square, and the surface variable stiffness module is attached to the upper surface and the lower surface of the sponge driving module. The edge variable stiffness module is shaped as a cylinder and is arranged on the four side edges of the sponge driving module, and each edge variable stiffness module is connected to the sponge driving module.

[0061] Specifically, the sponge driving module expands or contracts by inflating or deflating to provide a driving force for deformation. In this embodiment, the sponge driving module includes a first airbag filled with a flexible material, and the first airbag is connected to a first gas pipeline to inflate or deflate the first airbag through the first gas pipeline to drive the sponge driving module to expand or contract.

[0062] Combination Figure 3 As shown, the sponge drive module includes a hollow first airbag 110, which is a thin film airbag. The first airbag is filled with a flexible material 120, which not only allows the sponge drive module to have better shock absorption, but also improves the sealing and impermeability of the sponge drive module. The flexible material in the sponge drive module can fix the shape of the first airbag, support the outer wall and assist in deformation, and can adapt to the shape and size requirements in different scenarios. Specifically, the flexible material in the sponge drive module is sponge.

[0063] In addition, combined Figure 3As shown, the sponge driving module is also provided with a first gas pipeline 130, one end of which extends to the interior of the first airbag and the other end is outside the sponge driving module. The sponge driving module is inflated and deflated by inputting gas into a gas pipeline located outside the sponge driving module or extracting gas from the first airbag through the pipeline port. The sponge driving module expands when inflated and contracts when deflated. Since the surface variable stiffness module is attached to the surface of the sponge driving module and the edge variable stiffness module is attached to the edge of the sponge driving module, the expansion and contraction of the sponge driving module drives the surface variable stiffness module and the edge variable stiffness module to deform synchronously. Similarly, the expansion and contraction of the edge variable stiffness module also drives the sponge driving module to deform.

[0064] Furthermore, in order to realize the connection between the sponge driving module and the edge variable stiffness module and the surface variable stiffness module, hook-and-loop fasteners are provided at both ends of the first airbag, and the connection with the surface variable stiffness module is established through the hook-and-loop fasteners. In addition, the surface variable stiffness module and the edge variable stiffness module can also be glued and connected to the sponge driving module.

[0065] Combination Figures 4 to 10 As shown, the edge-variable stiffness module includes: a bellows structure 210 and a second gas pipeline 232 connected to the bellows structure 210, and the bellows structure is inflated or deflated through the second gas pipeline 232 to drive the bellows structure to expand or axially contract, thereby driving the deformation of the corresponding edges of the sponge driving module; wherein the bellows structure is used to prevent the radial expansion of the edge-variable stiffness module and to achieve the axial contraction of the edge-variable stiffness module.

[0066] Furthermore, in order to obtain a better stiffness enhancement or reduction effect, combined with Figure 5a and Figure 5b As shown, an inflatable airbag is arranged in the bellows structure, and the inflatable airbag includes: a first multi-columnar inflatable airbag 410 and a second multi-columnar inflatable airbag 420; the first multi-columnar inflatable airbag 410 and the second multi-columnar inflatable airbag 420 are nested with each other, and the second multi-columnar inflatable airbag 420 is embedded in the interior of the first multi-columnar inflatable airbag 410; the first multi-columnar inflatable airbag 410 is connected to a first gas delivery tube 221, and the second multi-columnar inflatable airbag 420 is connected to a second gas delivery tube 231, and the first multi-columnar inflatable airbag 410 is inflated or deflated through the first gas delivery tube 221, and the second multi-columnar inflatable airbag 420 is inflated or deflated through the second gas delivery tube 231, so that the first multi-columnar inflatable airbag 410 and the second multi-columnar inflatable airbag 420 radially expand or contract.

[0067] like Figure 4As shown, the bellows structure 210 is a cylindrical structure as a whole, and the cylindrical surface of the cylinder is a corrugated structure. Sealing covers are provided at both ends of the cylinder. The sealing cover located on the right side of the bellows structure is a first sealing cover 220. One side of the first sealing cover 220 is connected to the first multi-column inflatable airbag. The sealing cover located on the left side of the bellows structure is a second sealing cover. Figure 5a , Figure 5b , Figure 6 and Figure 7 As shown, the first multi-columnar inflatable airbag 410 and the second multi-columnar inflatable airbag 420 are respectively composed of a plurality of columnar and interconnected inflatable airbags. The second multi-columnar inflatable airbag 420 is located inside the first multi-columnar inflatable airbag 410, and the plurality of columnar inflatable airbags contained in the first multi-columnar inflatable airbag 410 and the second multi-columnar inflatable airbag 420 are arranged in a circular structure. In one embodiment, the plurality of columnar inflatable airbags in the first multi-columnar inflatable airbag 410 form an inner and outer circle, the plurality of columnar inflatable airbags in the second multi-columnar inflatable airbag 420 form an inner and outer circle, and the two layers of inflatable airbags of the second multi-columnar inflatable airbag 420 can be embedded in the two layers of inflatable airbags of the first multi-columnar inflatable airbag to form a laminated design. In addition, the first multi-columnar inflatable airbag 410 is connected to the first gas delivery tube 221, and the second multi-columnar inflatable airbag 420 is connected to the second gas delivery tube 231. The first multi-columnar inflatable airbag 410 and the second multi-columnar inflatable airbag 420 are inflated and deflated respectively through the connected first gas delivery tube 221 and the second gas delivery tube 231, thereby achieving the enhancement or reduction of the edge variable stiffness module through tubular blocking stiffness.

[0068] Specifically, combined Figure 8 , Fig. 9 and Fig.10 As shown, the first air chamber 620 connected to the first multi-column inflatable airbag is provided inside the first sealing cover 220, the second air chamber 223 connected to the second multi-column inflatable airbag is provided inside the second sealing cover 222, one end of the second gas pipeline 232 is connected to the bellows structure, and the other end extends out of the bellows structure through the second sealing cover 222. The second air chamber 223 is also connected to the second gas delivery pipe 231, through which the columnar inflatable airbag 610 in the second multi-column inflatable airbag can be directly inflated or deflated, so as to realize the edge-variable stiffness module to enhance or reduce the stiffness through tubular blocking.

[0069] Similarly, the edge variable stiffness module and the sponge driving module are connected by gluing, and the edge variable stiffness module is glued to the edge of the sponge driving module.

[0070] like Fig.11As shown, the surface variable stiffness module disclosed in the present application includes: a second airbag 330, the interior of the second airbag 330 is filled with sandpaper and a honeycomb sandwich panel, and the second airbag 330 is connected to a third gas pipeline 320, so as to inflate or deflate the second airbag 330 through the third gas pipeline 320 to achieve the stiffness change of the sponge driving module; pre-folds are arranged on the sandpaper and the honeycomb sandwich panel, and the pre-folds are used to cope with the pre-deformation of the surface variable stiffness module.

[0071] The film airbag is filled with a layer of blocking variable stiffness material, which is used to achieve the change of stiffness of the surface variable stiffness module. The specific layer of blocking variable stiffness material is: sandpaper and honeycomb sandwich panel. By fitting the sandpaper and the honeycomb sandwich panel together, the film airbag can be blocked and squeezed or flexibly separated when it is inflated or deflated to achieve stiffness change. At the same time, the film airbag is also used to ensure air tightness. The honeycomb sandwich panel inside the film airbag also provides buffer protection and load support structure. In addition, the sandpaper may also provide additional friction function. The honeycomb sandwich panel has the characteristics of light weight and high strength, and can play the role of rigidity, sound insulation and heat insulation.

[0072] Specifically, preset folds are arranged on the surface of the surface variable stiffness module, the diagonal folds on the surface correspond to the torsional deformation of the sponge driving module, and the preset opposite side folds on the surface correspond to the bending compression deformation of the sponge driving module.

[0073] Combination Figure 2 As shown, in one embodiment, the shape of the sponge driving module is designed to be a cube, the shape of the surface variable stiffness module is designed to be a square, and the surface variable stiffness module is attached to the surface of the sponge driving module. The shape of the edge variable stiffness module is cylindrical and is arranged on the four side edges of the sponge driving module.

[0074] In a specific implementation, the surface variable stiffness model and the sponge driving module are connected by a lock, and specifically, a hook-and-loop fastener can be used. The edge variable stiffness module and the sponge driving module are connected by gluing.

[0075] The following is an explanation of the variable morphology control method of the composite variable stiffness soft robot of the present application.

[0076] The sponge driving module is inflated or deflated to control the expansion or compression of the overall shape of the sponge driving module. The expansion, bending and twisting of the sponge driving module in different directions need to be achieved by controlling the edge variable stiffness module and / or the surface variable stiffness module.

[0077] Specifically, combined Figures 12 to 15As shown, the edge variable stiffness module is controlled to linearly expand and contract in the axial direction, that is, the bellows structure in the edge variable stiffness module is inflated or deflated, which can drive the sponge driving module to expand and contract or bend in the up-down direction, front-to-back direction, or left-to-right direction. The edge variable stiffness module is controlled to increase or decrease the bending stiffness, that is, the inflatable airbag in the edge variable stiffness module is inflated or deflated to prevent or comply with the corresponding edge deformation of the sponge driving module, so as to realize the sponge driving module to expand and contract or bend in the up-down direction, front-to-back direction, or left-to-right direction, or to realize the sponge driving module to twist in the clockwise or counterclockwise direction. Furthermore, by controlling the inflation and deflation of the airbag in the variable stiffness module, the bending stiffness of the variable stiffness module can be increased or decreased, and the pre-creases are used to prevent or conform to the pre-deformation of the corresponding surface of the sponge driving module, so as to cooperate with the sponge driving module to expand and contract or bend in the up and down directions, front and back directions, or left and right directions, or to achieve the twisting of the sponge driving module in the clockwise or counterclockwise direction.

[0078] Combination Fig.12 As shown, by inflating or deflating the edge variable stiffness module and / or the surface variable stiffness module on the composite variable stiffness soft robot, the edge variable stiffness module and / or the surface variable stiffness module change their stiffness, and the sponge contracts to provide driving force, which can achieve the change of the shape of the soft robot torsion, compression or bending, thereby achieving flexible adjustment of the soft robot in different degrees of freedom. Fig.13 As shown, the pre-crease of the surface variable stiffness module is set as a diagonal crease, and the edge variable stiffness module is inflated to enhance the edge stiffness of the sponge drive module. By charging the sponge drive module with negative pressure, the soft robot can perform a twisting motion. The greater the negative pressure of the sponge drive module, the greater the twisting motion of the soft robot. Fig.14 As shown, if the surface variable stiffness modules located on the upper and lower surfaces of the sponge driving module are evacuated to increase the stiffness of the upper and lower surfaces of the sponge driving module, a pair of adjacent side internal airbags are inflated, the stiffness increases, and the sponge driving module is evacuated, which will cause the soft robot to deform and perform bending movements. The greater the stiffness, the more obvious the bending effect. Fig.15 As shown, if the surface variable stiffness modules on the upper and lower surfaces are deflated, the internal airbags of a pair of adjacent sides are inflated and the stiffness is increased, and the bellows of another pair of adjacent sides are evacuated and stretched, which can cause the soft robot to deform by bending.

[0079] When using the above-mentioned 1 sponge drive module, 4 edge variable stiffness modules and 2 surface variable stiffness modules, a composite variable stiffness soft robot can be combined. And multiple composite variable stiffness soft robots, or multiple composite variable stiffness soft robots and sponge drive modules can be combined to obtain the edge and surface composite variable stiffness multi-body reconfigurable soft robot proposed in this application. Specifically, according to the arrangement form corresponding to the preset reconstruction mode, the surface variable stiffness module and the sponge drive module are used as connecting parts to form a multi-body reconfigurable soft robot.

[0080] Furthermore, the preset reconstruction modes include: a foot-shaped reconstruction mode, an arm-shaped reconstruction mode, a claw-shaped reconstruction mode and a foot-arm composite reconstruction mode; the foot-shaped reconstruction mode corresponds to an arrangement form of a foot shape, the arm-shaped reconstruction mode corresponds to an arrangement form of an arm shape, the claw-shaped reconstruction mode corresponds to an arrangement form of a claw shape, and the foot-arm composite reconstruction mode corresponds to an arrangement form of a composite form of a foot and an arm.

[0081] Combination Fig.16 As shown, the multi-body reconstructed soft robot corresponding to the foot shape reconstruction mode includes at least 4 compound variable stiffness soft robots and at least 2 sponge driving modules; wherein the first compound variable stiffness soft robot 1311 and the second compound variable stiffness soft robot 1312 are respectively used as the front support part and the rear support part, a first sponge driving module 1313 is arranged on the upper surface of the first compound variable stiffness soft robot 1311, and a second sponge driving module 1314 is arranged on the second compound variable stiffness soft robot 1312, and the first sponge driving module 1313 is a connecting piece, and the third compound variable stiffness soft robot 1315 is connected to one side of the first sponge driving module 1313. The second sponge driving module 1314 is used as a connecting piece, and the fourth compound variable stiffness soft robot 1316 is connected to one side of the second sponge driving module 1314. The opposite surfaces of the connection surfaces of the third compound variable stiffness soft robot 1315 and the first sponge driving module 1313 and the opposite surfaces of the connection surfaces of the fourth compound variable stiffness soft robot 1316 and the second sponge driving module 1314 are connected to establish connections, so as to construct a multi-body reconstructed soft robot corresponding to the foot shape reconstruction mode.

[0082] In the specific implementation, two composite variable stiffness multi-body reconstructible soft robots can be first connected through the face-edge stiffness module, and then two sponge driving modules can be selected to adjust the positions of the hook-and-loop fasteners originally on the upper and lower bottom surfaces to the adjacent side surfaces, and respectively connected to the front and back of the two combined edge-face composite variable stiffness multi-body reconstructible soft robots, and one composite variable stiffness multi-body reconstructible soft robot can be respectively connected under the sponge driving modules that adjust the positions of the hook-and-loop fasteners, to finally form a foot-shaped reconstructible robot.

[0083] like Fig.17As shown, the multi-body reconfigurable soft robot corresponding to the arm-shape reconstruction mode includes multiple compound variable stiffness soft robots; wherein, a surface variable stiffness module on the lower surface of the compound variable stiffness soft robot located in the upper layer and a surface variable stiffness module on the upper surface of the compound variable stiffness soft robot located in the lower layer are connected to construct a multi-body reconfigurable soft robot corresponding to the arm-shape reconstruction mode in which each compound variable stiffness soft robot is arranged in sequence from top to bottom.

[0084] In one combination method, two preset torsion edge-surface composite variable stiffness multi-body reconfigurable soft robots can be first connected through a surface variable stiffness module, and then two preset compression edge-surface composite variable stiffness multi-body reconfigurable soft robots can be connected to the right side through the surface variable stiffness module in turn, and then a preset compression edge-surface composite variable stiffness multi-body reconfigurable soft robot can be connected through the surface variable stiffness module, finally forming an arm-shaped reconfigurable robot.

[0085] like Fig.18 As shown, the multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode includes multiple compound variable stiffness soft robots; each compound variable stiffness soft robot is connected by the edge variable stiffness modules on the adjacent edges, and the multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode is obtained by combination. In one implementation, the multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode contains 6 compound variable stiffness soft robots, three in the upper and three in the lower, wherein the three compound variable stiffness soft robots located on the upper side are connected by the edge variable stiffness modules, and the three compound variable stiffness soft robots located on the lower side are connected by the surface variable stiffness modules of the compound variable stiffness soft robots above.

[0086] In one embodiment, three compound variable stiffness multi-body reconfigurable soft robots are first fixed closely together in a circular array with the gap in the middle forming an equilateral triangle. After fixation, the remaining three are sequentially connected to the bottom of each compound variable stiffness multi-body reconfigurable soft robot distributed closely together in a circle through a surface variable stiffness module, ultimately forming a claw-shaped reconfigurable robot.

[0087] Combination Fig.19 As shown, the multi-body reconfigurable soft robot corresponding to the foot-arm composite shape reconstruction mode includes two groups of multi-body reconfigurable soft robots corresponding to the foot shape reconstruction mode connected by sponge driving modules (i.e. Fig.16 A mid-foot-shape reconstruction robot 20 and another foot-shape reconstruction robot located at the rear side by side with the foot-shape reconstruction robot) and a group of multi-body reconstruction software robots 30 corresponding to the arm-shape reconstruction mode, and the multi-body reconstruction software robots 30 corresponding to the arm-shape reconstruction mode are arranged above the multi-body reconstruction soft robots corresponding to the foot-shape reconstruction mode.

[0088] The number of compound variable stiffness soft robots included in the soft robot corresponding to the foot-arm compound shape reconstruction mode is at least 12, and the number of sponge drive modules included is at least 6; wherein, 8 compound variable stiffness soft robots and 4 sponge drive modules constitute two groups of multi-body reconstructed soft robots corresponding to the foot shape reconstruction mode, and 4 compound variable stiffness soft robots constitute a multi-body reconstructed soft robot corresponding to the arm shape reconstruction mode. The two groups of multi-body compound variable stiffness soft robots corresponding to the foot shape reconstruction mode are connected through the sponge drive module, and the multi-body reconstructed soft robot corresponding to the arm shape reconstruction mode is set on any sponge drive module located in the middle of the foot shape reconstruction robot, and the soft robot corresponding to the foot-arm compound shape reconstruction mode is combined.

[0089] In one embodiment, eight compound variable stiffness multi-body reconfigurable soft robots can be connected to form a rectangle through a surface variable stiffness module, and a variable stiffness multi-body reconfigurable soft robot can be connected under the compound variable stiffness multi-body reconfigurable soft robots at the four corners to form a stable foot-shaped reconstruction robot. The bottom surface of the compound variable stiffness multi-body reconfigurable soft robot with a twisted edge surface can be preset in the middle of one side of the stable foot-shaped reconstruction robot through the surface variable stiffness module to finally form a foot-arm compound reconstruction robot.

[0090] The edge-surface composite variable stiffness multi-body reconstructed soft robot provided in this embodiment controls the expansion and contraction of the airbags in the sponge drive module, edge variable stiffness module, and surface variable stiffness module in each composite variable stiffness soft robot respectively, and changes the stiffness of the edge variable stiffness module and the surface variable stiffness module to achieve the expansion and contraction of the soft robot in the up-down, left-right, front-back directions, or twisting in the clockwise and counterclockwise directions, thereby adapting to deformations in different degrees of freedom in different complex environments. The soft robot disclosed in this embodiment integrates a variety of variable stiffness modules to achieve precise control and flexible stiffness adjustment of the robot to adapt to different complex environments, thereby improving the applicability and robustness of the robot operation.

[0091] This embodiment not only discloses the above-mentioned edge-surface composite variable stiffness multi-body reconfigurable soft robot, but also proposes a control method for the composite variable stiffness soft robot, which is applied to the above-mentioned composite variable stiffness soft robot; Fig. 20 As shown, the control method includes:

[0092] Step S1, obtaining morphological control instructions for the soft robot.

[0093] When controlling the soft robot disclosed in the present application, a morphological control instruction for controlling the soft robot is first received, and then corresponding morphological control of the soft robot is further implemented according to the morphological control instruction.

[0094] Specifically, the device that issues the morphology control instruction to the soft robot may be a computer device, a controller or other intelligent device. The computer device may send the control signal of the morphology control instruction to the driving system of the soft robot, so that the driving system of the soft robot can perform corresponding morphology control on the soft robot based on the received control signal.

[0095] In order to achieve accurate control of the soft robot, before sending the morphology control instruction, the corresponding faces and edges of the soft robot are numbered respectively. The information corresponding to the morphology control instruction is the control information of the faces or edges corresponding to the numbers, thereby achieving accurate control of the robot.

[0096] In one implementation, after obtaining the morphology control instruction for the soft robot, the method further includes:

[0097] The morphology control instructions are parsed to obtain state control information for edges and faces with different numbers in the morphology control instructions; wherein the edges with different numbers correspond to the numbers corresponding to the four edges of the edge face stiffness module in the soft robot; and the faces with different numbers correspond to the numbers corresponding to the two faces of the sponge drive module and the face variable stiffness module in the soft robot.

[0098] After the soft robot receives the morphology control instruction, it parses the morphology control requirements for each number in the morphology control instruction, and then performs morphology control according to the morphology control requirements of different numbers.

[0099] Step S2, according to the morphology control instruction, control the overall expansion or contraction of the sponge driving model, the linear expansion and contraction of the edge stiffness module along the axial direction and the variable stiffness and / or the variable stiffness of the surface variable stiffness module to realize the deformation of the soft robot to the shape corresponding to the morphology control instruction.

[0100] In this step, the shapes are adjusted according to the edges and faces with corresponding numbers according to the shape requirements, so as to realize the deformation of the composite variable stiffness soft robot.

[0101] Specifically, the bellows structure is evacuated through the second gas pipeline in the bellows structure, and the external gas source is input with negative pressure, and the peripheral bellows structure is deflated to shrink the edge-variable stiffness module; or the inflatable airbag is inflated through the second gas pipeline, and the external gas source is input with positive pressure to inflate the peripheral bellows structure to extend the edge-variable stiffness module. The edge-variable stiffness module linearly expands and contracts in the axial direction, and can drive the sponge driving module to expand and contract or bend in the up-down direction, the front-back direction, or the left-right direction.

[0102] Specifically, the external air source inputs negative pressure, and the first multi-columnar connected inflatable airbag and the second multi-columnar connected inflatable airbag are deflated to make the first multi-columnar connected inflatable airbag and the second multi-columnar connected inflatable airbag contract and relax, thereby reducing the bending stiffness of the edge-variable stiffness module to adapt to the corresponding edge deformation of the sponge driving module; the external air source inputs positive pressure, and the first multi-columnar connected inflatable airbag and the second multi-columnar connected inflatable airbag are inflated to make the first multi-columnar connected inflatable airbag and the second multi-columnar connected inflatable airbag expand, squeeze and block, thereby enhancing the bending stiffness of the edge-variable stiffness module to prevent the corresponding edge deformation of the sponge driving module.

[0103] The bending stiffness of the edge variable stiffness module is controlled to be enhanced or reduced to prevent or comply with the deformation of the corresponding edges of the sponge driving module, so as to enable the sponge driving module to stretch or bend in the up-down direction, front-back direction or left-right direction, or to twist the sponge driving module in the clockwise or counterclockwise direction.

[0104] In addition, the external air source inputs negative pressure, and the surface variable stiffness module is deflated to make the sandpaper and honeycomb sandwich panels filled inside vacuum squeezed and blocked, thereby enhancing the bending stiffness of the surface variable stiffness module to prevent the pre-deformation of the corresponding surface of the sponge driving module. The external air source inputs positive pressure, and the surface variable stiffness module is inflated to relax the sandpaper and honeycomb sandwich panels filled inside, thereby reducing the bending stiffness of the surface variable stiffness module to comply with the pre-deformation of the corresponding surface of the sponge driving module. The bending stiffness of the surface variable stiffness module is controlled to be enhanced or reduced, and pre-creases are used in combination to prevent or comply with the pre-deformation of the corresponding surface of the sponge driving module, so as to achieve the expansion or contraction or bending of the sponge driving module in the up-down direction, the front-back direction, or the left-right direction, or to achieve the twisting of the sponge driving module in the clockwise or counterclockwise direction.

[0105] Based on the disclosure of the above-mentioned edge-surface composite variable stiffness multi-body reconfigurable soft robot, the present application also proposes a control method for the edge-surface composite variable stiffness multi-body reconfigurable soft robot, such as Fig.21 As shown, the control method includes:

[0106] Step H1, obtaining morphological control instructions for the multi-body reconstructed soft robot.

[0107] When performing morphological control on a multi-body reconfigurable soft robot, it is first necessary to determine the control morphology of the soft robot in the current scene, and determine the morphological control instructions to be issued according to the corresponding control morphology. For example, the control mode of the soft robot in the current scene is the arm bending control morphology. Fig.14 The various bending forms shown in the figure determine the most suitable form in the current scene, and issue corresponding form control instructions based on the determined control form.

[0108] Step H2, according to the morphology control instruction, control the expansion and contraction of the sponge driving module, the stiffness change of the edge variable stiffness module, and / or the surface variable stiffness module to realize the edge and surface composite variable stiffness multi-body reconstruction software machine to execute the deformation corresponding to the morphology control instruction.

[0109] According to the morphological control instructions received in the above steps, the composite variable stiffness soft robot involved in the corresponding multi-body reconfigurable soft robot is controlled to achieve the corresponding deformation. Specifically, based on the desired morphological requirements, the edge variable stiffness module on the composite variable stiffness soft robot is controlled to expand or contract along the axis, or the sponge driving module is controlled to expand or contract, or the edge variable stiffness module or the surface variable stiffness module is controlled to increase or decrease stiffness, so that the deformed morphology of the entire multi-body reconfigurable soft robot is the same as the requirements corresponding to the morphological control instructions.

[0110] The soft robot and control method thereof disclosed in the present invention integrate multiple composite variable stiffness soft robots and sponge driving modules to obtain a multi-body reconstructible soft robot that can adapt to different mode forms, and control the surface variable stiffness module, edge variable stiffness module and sponge driving module on the composite variable stiffness soft robot. Through the coordinated work of various modules, precise control and stiffness adjustment of the soft robot in multiple degrees of freedom are achieved, thereby improving the adaptability and robustness of the robot, and making it suitable for various complex environments such as medical surgery, industrial automation, exploration and rescue.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0112] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces, characterized in that: The multi-body reconfigurable soft robot comprises: a plurality of compound variable stiffness soft robots, or the multi-body reconfigurable soft robot comprises: a plurality of compound variable stiffness soft robots and a plurality of sponge driving modules; The composite variable stiffness soft robot comprises: at least one sponge driving module, an edge variable stiffness module and a surface variable stiffness module; The sponge driving module is a polyhedral structure, the edge variable stiffness module is arranged on the edge of the sponge driving module; the surface variable stiffness module is attached to the surface of the sponge driving module; The edge-variable stiffness module is controlled to expand and contract to drive the corresponding edge of the sponge drive module to deform; The edge-variable stiffness module and / or the surface-variable stiffness module are controlled to expand or contract to conform to or prevent the corresponding edges and corresponding surfaces of the sponge driving module from deforming; Each composite variable stiffness soft robot is arranged in a form corresponding to a preset reconstruction mode, and the surface variable stiffness module is used as a connecting part to form a multi-body reconfigurable soft robot; Alternatively, each composite variable stiffness soft robot is arranged in a form corresponding to a preset reconstruction mode, with the surface variable stiffness module and the sponge driving module as connecting parts to form a multi-body reconfigurable soft robot.

2. The multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces according to claim 1, characterized in that: The preset reconstruction modes include: foot-shaped reconstruction mode, arm-shaped reconstruction mode, claw-shaped reconstruction mode and foot-arm composite reconstruction mode; the foot-shaped reconstruction mode corresponds to a foot shape, the arm-shaped reconstruction mode corresponds to an arm shape, the claw-shaped reconstruction mode corresponds to a claw shape, and the foot-arm composite reconstruction mode corresponds to a composite shape of foot and arm.

3. The edge-surface composite variable stiffness multi-body reconfigurable soft robot according to claim 2, characterized in that: The multi-body reconstructible soft robot corresponding to the foot shape reconstruction mode includes at least 4 compound variable stiffness soft robots and at least 2 sponge driving modules; wherein, the first compound variable stiffness soft robot and the second compound variable stiffness soft robot are used as the front support part and the rear support part respectively, the first sponge driving module is arranged on the upper surface of the first compound variable stiffness soft robot, and the second sponge driving module is arranged on the second compound variable stiffness soft robot, the first sponge driving module is used as a connecting part, and the third compound variable stiffness soft robot is connected to one side of the first sponge driving module, and the second sponge driving module is used as a connecting part, and the fourth compound variable stiffness soft robot is connected to one side of the second sponge driving module, and the opposite surface of the connection surface between the third compound variable stiffness soft robot and the first sponge driving module and the opposite surface of the connection surface between the fourth compound variable stiffness soft robot and the second sponge driving module are connected, so as to construct a multi-body reconstructible soft robot corresponding to the foot shape reconstruction mode.

4. The edge-surface composite variable stiffness multi-body reconfigurable soft robot according to claim 2, characterized in that: The multi-body reconfigurable soft robot corresponding to the arm-shape reconstruction mode includes multiple compound variable stiffness soft robots; wherein, a surface variable stiffness module on the lower surface of the compound variable stiffness soft robot located in the upper layer and a surface variable stiffness module on the upper surface of the compound variable stiffness soft robot located in the lower layer are connected to construct a multi-body reconfigurable soft robot corresponding to the arm-shape reconstruction mode in which each compound variable stiffness soft robot is arranged in sequence from top to bottom.

5. The multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces according to claim 2, characterized in that: The multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode includes multiple compound variable stiffness soft robots; each compound variable stiffness soft robot is connected by an edge variable stiffness module on adjacent edges to form a multi-body reconfigurable soft robot corresponding to the claw-shaped reconstruction mode.

6. The edge-surface composite variable stiffness multi-body reconfigurable soft robot according to claim 2, characterized in that: The multi-body reconfiguration soft robot corresponding to the foot-arm composite reconstruction mode includes two groups of multi-body reconfiguration soft robots corresponding to the foot-shape reconstruction mode and one group of multi-body reconfiguration software robots corresponding to the arm-shape reconstruction mode connected by sponge driving modules, and the multi-body reconfiguration software robot corresponding to the arm-shape reconstruction mode is arranged above the multi-body reconfiguration soft robot corresponding to the foot-shape reconstruction mode.

7. The edge-surface composite variable stiffness multi-body reconfigurable soft robot according to claim 1, characterized in that: The sponge driving module comprises a first airbag filled with a flexible material, and the first airbag is connected to a first gas pipeline so that the first airbag is inflated or deflated through the first gas pipeline to drive the sponge driving module to expand or contract.

8. The edge-surface composite variable stiffness multi-body reconfigurable soft robot according to claim 1, characterized in that: A bellows structure and a second gas pipeline connected to the bellows structure, the bellows structure is inflated or deflated through the second gas pipeline, driving the bellows structure to axially expand and contract, so as to drive the deformation of the corresponding edges of the sponge driving module; wherein the bellows structure is used to prevent the radial expansion of the edge variable stiffness module and to realize the axial expansion and contraction of the edge variable stiffness module.

9. The multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces according to claim 1, characterized in that: The surface variable stiffness module includes: a second airbag, the interior of the second airbag is filled with sandpaper and a honeycomb sandwich panel, and pre-folds are arranged on the sandpaper and the honeycomb sandwich panel; the second airbag is connected to a third gas pipeline, and the third gas pipeline is used to inflate or deflate the second airbag to achieve an increase or decrease in the bending stiffness of the surface variable stiffness module, and cooperate with the pre-fold to prevent or comply with the pre-deformation of the corresponding surface of the sponge driving module.

10. A control method for a multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces, characterized in that: Applicable to the multi-body reconfigurable soft robot with composite variable stiffness on edges and surfaces as described in any one of claims 1 to 9; Obtaining morphological control instructions for a multi-body reconfigurable soft robot; According to the morphological control instruction, the sponge driving module is controlled to expand and contract, and the edge variable stiffness module and / or the surface variable stiffness module are changed to realize the edge and surface composite variable stiffness multi-body reconstruction software machine to execute the deformation corresponding to the morphological control instruction.

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