软体机器人结构设计进展综述OA

Soft robots overcome the limitations of traditional rigid robots in unstructured environments through bio-inspired design and flexible materials.This paper examines advances in bio-inspired structural design of soft robots,categorizing them into four main types:peristaltic,bending,zigzagging,and underwater robots.The flexible materials(e.g.elastomers,shape memory alloys)used for each type of robots and the control algorithms and sensor technologies of the corresponding soft robots are explored in detail,and typical cases such as self-healing earthworm robots,magnetically driven inchworms,modular snake robots and variable stiffness structures are discussed.Despite significant advantages in environmental adaptability,soft robots still face such challenges as insufficient control precision,low material durability,and limited energy efficiency.Therefore,future research should focus on developing adaptive control algorithms,high-sensitivity sensor integration,sustainable energy solutions,and interdisciplinary collaboration to advance their applications in medical,rescue,and prospecting fields.