Study on nonlinear obstacle avoidance on modular soft robots
作者： Yanqiong Fei , Xu Wang
DOI: 10.1007/S11071-015-2203-1
关键词:
摘要: A modular soft robot, which consists of three deformable spherical cells, the electromagnetic valves and control systems, is constructed. According to deflating action inflating size shape each cell can be changed. Thus, robot move through a narrow or low complicated passage. In this paper, nonlinear relationship between pressure (P) inflation radius (R) with different original diameters (r) described change cell. order obstacle, based on distances $$S_{i}$$ i four kinds moving orders are obtained. For kind order, dynamic process analyzed modes The theoretical analysis obstacle avoidance proposed, conditions presented in details. Last, simulation an experiment cells shown emulate robot.
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