机器人柔顺关节研究综述
|
摘要
随着机器人应用向智能工厂、助老助残服务、医疗、教育娱乐等领域不断扩展,机器人的柔顺性和主动适应性设计需求越来越受到研究人员的关注。本文综述了机器人柔顺关节的机构原理,包含了弹性元件被动柔顺关节、气动主动柔顺关节、磁场力柔顺关节和智能材料柔顺关节。进一步分析了当前机器人柔顺关节研究中存在的结构、建模与控制、动力供给等方面的问题。最后指出机器人柔顺关节的研究趋势主要表现在驱动与结构创新、数学建模与控制、多学科交叉与合作研发等方面。
When robots continuously extend their applications in fields of intelligent plant,service,medical treatment,education,entertainment,unknown circumstances,the design of robot compliance and active adaptability has attracted more and more interests from researchers. This paper reviewes the structure principles of robot compliant joint,including passive compliant joint of elastic element,pneumatic active compliant joint,magnetic-based compliant joint and intelligent material based compliant joint. Furthermore,the existing problems of robot compliant joint research and application are analyzed,such as structure,modeling and control,power supply. Finally,the researching trend of robot compliant joint is proposed in aspects of driving and structure innovation,mathematical modeling and control,interdisciplinary cooperative research and development.
When robots continuously extend their applications in fields of intelligent plant,service,medical treatment,education,entertainment,unknown circumstances,the design of robot compliance and active adaptability has attracted more and more interests from researchers. This paper reviewes the structure principles of robot compliant joint,including passive compliant joint of elastic element,pneumatic active compliant joint,magnetic-based compliant joint and intelligent material based compliant joint. Furthermore,the existing problems of robot compliant joint research and application are analyzed,such as structure,modeling and control,power supply. Finally,the researching trend of robot compliant joint is proposed in aspects of driving and structure innovation,mathematical modeling and control,interdisciplinary cooperative research and development.
引文
[1]Rus D,Tolley M T.Design,fabrication and control of soft robots[J].Nature,2015,521(7553):467-475
[2]刘亚威.美国国防部推进人机协作机器人发展[J].国际航空,2017(5):74-76
[3]赵志瑛.工业机器人安全分析[J].安全与环境学报,1997(5):31-33-042-
[4]丁汉.共融机器人的基础理论和关键技术[J].机器人产业,2016(6):12-17
[5]刘辛军,于靖军,王国彪,等.机器人研究进展与科学挑战[J].中国科学基金,2016(5):425-431
[6]王田苗,郝雨飞,杨兴帮,等.软体机器人:结构、驱动、传感与控制[J].机械工程学报,2017,53(13):1-13
[7]王颜,房立金.机械式仿骨骼肌变刚度机构原理及设计[J].机器人,2015,37(4):506-512
[8]张亚平,周建军,陈耀,等.含弹性环的机器人关节变刚度驱动器设计分析[J].机械科学与技术,2015,34(2):199-203
[9]Wolf S,Hirzinger G.A new variable stiffness design:matching requirements of the next robot generation[C].In:IEEE International Conference on Robotics and Automation,Pasadena,USA,2008.1741-1746
[10]魏慧,帅梅,王中宇,等.仿人机器人可变刚度柔性关节设计[P].中国专利,CN101934525A.2011-1-5
[11]Wolf S,Eiberger O,Hirzinger G.The DLR FSJ:energy based design of a variable stiffness joint[C].In:IEEEInternational Conference on Robotics and Automation.Shanghai,China,2011.5082-5089
[12]Sariyldiz E,Chen G,Yu H.An acceleration-based robust motion controller design for a novel series elastic actuator[J].IEEE Transactions on Industrial Electronics,2016,63(3):1900-1910
[13]Li X,Pan Y,Chen G,et al.Adaptive human-robot interaction control for robots driven by series elastic actuators[J].IEEE Transactions on Robotics,2017,33(1):1-14
[14]Awad M I,Gan D,Cempini M,et al.Modeling,design&characterization of a novel passive variable stiffness joint(p VSJ)[C].In:IEEE/RSJ International Conference on Intelligent Robots and Systems,Daejeon,Korea,2016.323-329
[15]Cui S,Liu Y,Sun Y,et al.Design of a series variable stiffness joint based on antagonistic principle[C].In:International Conference on Intelligent Robotics and Applications,Wuhan,China,2017.238-249
[16]Choi J,Hong S,Lee W,et al.A robot joint with variable stiffness using leaf springs[J].IEEE Transactions on Robotics,2011,27(2):229-238
[17]Kajikawa S,Yonemoto Y.Joint mechanism with a multidirectional stiffness adjuster[C].In:IEEE/RSJ International Conference on Intelligent Robots and Systems,Taipei,China,2010.4194-4200
[18]Kajikawa S,Ito T,Hase H.Stiffness control of variable stiffness joint using electromyography signals[C].In:IEEE International Conference on Robotics and Automation,Karlsruhe,Germany,2013.4928-4933
[19]张立彬,鲍官军,杨庆华,等.气动柔性驱动器及其在灵巧手中的应用研究综述[J].中国机械工程,2008,19(23):2891-2897
[20]Bao G,Cai S,Wang Z,et al.Flexible pneumatic robotic actuator FPA and its applications[C].In:IEEE International Conference on Robotics and Biomimetics,Shenzhen,China,2013.867-872
[21]Shepherd R F,Ilievski F,Choi W,et al.Multigait soft robot[J].Proceedings of the National Academy of Sciences of the United States of America,2011,108(51):20400
[22]Martinez R V,Branch J L,Fish C R,et al.Robotic tentacles with three-dimensional mobility based on flexible elastomers[J].Advanced Materials,2013,25(2),205-212
[23]Stokes A A,Shepherd R F,Morin S A,et al.A Hybrid Combining Hard and Soft Robots[J].Soft Robotics,2014,1(1),70-74
[24]Kwok S W,Morin S A,Mosadegh B,et al.Magnetic assembly of soft robots with hard components[J].Advanced Functional Materials,2013,24(15):2180-2187
[25]Tolley M T,Shepherd R F,Mosadegh B,et al.A resilient untethered soft robot[J].Soft Robotics,2014,1(3):213-223
[26]Mosadegh B,Polygerinos P,Keplinger C,et al.Pneumatic networks for soft robotics that actuate rapidly[J].Advanced Functional Materials,2014,24(15):2163-2170
[27]Mosadegh B,Mazzeo A D,Shepherd R F,et al.Control of soft machines using actuators operated by a braille display[J].Lab Chip,2014,14(1):189-199
[28]Shepherd R F,Stokes A A,Freake J,et al.Using explosions to power a soft robot[J].Angewandte Chemie International Edition,2013,125(10):2964-2968
[29]Martinez R V,Fish C R,Chen X,et al.Elastomeric origami:programmable paper-elastomer composites as pneumatic actuators[J].Advanced Functional Materials,2012,22(7):1376-1384
[30]Yan T,Shuai G.Stiffness characteristic of elongation type pneumatic compliance actuator[J].Journal of Harbin Institute of Technology,2015,47(5):76-80
[31]李小宁,滕燕,杨罡,等.双向柔性的膝关节主-被动康复训练装置[P].中国专利,CN101829004A.2010-9-15
[32]Deshpande A R,Tsez T H,Ren H.Origami-inspired bidirectional soft pneumatic actuator with integrated variable stiffness mechanism[C].In:IEEE International Conference on Advanced Robotics,Hong Kong,China,2017.417-421
[33]王宁扬,孙昊,姜皓,等.一种基于蜂巢气动网络的软体夹持器抓取策略研究[J].机器人,2016,38(3):371-377
[34]Li Y T,Chen Y H,Yang Y,et al,Passive particle jamming and its stiffening of soft robotic grippers[J].IEEETransaction on Robotics,2017,33(2):446-455
[35]鲍官军,李昆,马小龙,等.仿生软体机器人的可变刚度模块[P].中国专利,CN104227721A.2014-12-24
[36]鲍官军,李昆,马小龙,等.主动可变刚度长臂式仿生软体机器人[P].中国专利,CN104440918A.2015-3-25
[37]Giannaccini M E,Xiang C,Atyabi A,et al.Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning[J].Soft Robotics,2018,5(1):54-70
[38]Amend J,Cheng N,Fakhouri S,et al.Soft robotics commercialization:jamming grippers from research to product[J].Soft Robotics,2016,3(4):213
[39]Hauser S,Robertson M,Ijspeert A,et al.Jamm Joint:a variable stiffness device based on granular jamming for wearable joint support[J].IEEE Robotics&Automation Letters,2017,2(2):849-855
[40]Wei Y,Chen Y H,et al,A novel variable stiffness robotic gripper based on integrated soft actuating and particle jamming[J].Soft Robotics,2016,3(3):134-143
[41]Yang Y,Chen Y H,Li Y,et al.Novel variable-stiffness robotic fingers with built-in position feedback[J].Soft Robotics,2017,4(4):338-352
[42]Choi J,Park S,Lee W,et al.Design of a robot joint with variable stiffness[C].In:IEEE International Conference on Robotics and Automation,Pasadena,USA,2008.1760-1765
[43]Hyun M W,Yoo J,Hwang S T,et al.Optimal design of a variable stiffness joint using permanent magnets[J].IEEE Transactions on Magnetics,2007,43(6):2710-2712
[44]Yoo J,Hyun M W,Choi J H,et al.Optimal design of a variable stiffness joint in a robot manipulator using the response surface method[J].Journal of Mechanical Science&Technology,2009,23(8):2236-2243
[45]Zhao Y,Yu J,Wang H,et al.Design of an electromagnetic prismatic joint with variable stiffness[J].Industrial Robot,2017,44(2):222-230
[46]Yun S,Kang S,Kim M,et al.A novel design of high responsive variable stiffness joints for dependable manipulator[C],In:Proceedings of ACMD,Tokyo,Japan,2006.A00695
[47]Manti M,Cacucciolo V,Cianchetti M.Stiffening in soft robotics:a review of the state of the art[J].IEEE Robotics&Automation Magazine,2016,23(3):93-106
[48]Suo Z G.Theory of dielectric elastomers[J].Acta Mechanica Solida Sinica,2010,23(6):549-578
[49]Gu G Y,Zhu J,Zhu L M,et al.A survey on dielectric elastomer actuators for soft robots[J].Bioinspiration&Biomimetics,2017,12(1):011003
[50]王延杰,汝杰,赵东旭,等.离子聚合物-金属复合材料(IPMC)的电极界面研究进展[J].材料导报,2017,31(15):24-29
[51]杭观荣,曹国辉,王振龙,等.SMA驱动的仿生机器人研究现状及其展望[J].微特电机,2006,34(11):4-8
[52]Mahmudru R,Zhi C,Sabariah J L,et al.A review of advances in magnetorheological dampers:their design optimization and applications[J].Journal of Zhejiang University-SCIENCEA,2017,18(12):991-1010
[53]张浩,胡元,李志雄,等.多盘式磁流变离合器的理论研究[J].机械工程师,2014(1):132-133
[54]Shafer A S,Kermani M R.On the feasibility and suitability of MR fluid clutches in human-friendly manipulators[J].IEEE/ASME Transactions on Mechatronics,2011,16(6):1073-1082
[55]戴金桥,王爱民,宋爱国.基于磁流变液的柔性机器人振动控制阻尼器[J].机器人,2010,32(3):358-362
[56]李志海,韩建达,吴镇炜,等.机械阻抗参数可调的机器人柔性驱动旋转关节[P].中国专利,CN203611260U.2014-5-28
[57]王斌锐,金英连,许宏,等.机器人仿生膝关节的计算力矩加比例微分反馈控制[J].机械工程学报,2008,44(1):179-183
[58]吴波.基于磁流变阻尼器的动力型智能假肢动力特性分析:[硕士学位论文][D].哈尔滨:哈尔滨工业大学机电工程学院,2015
[59]蒋楠.基于磁流变液的机器人腿设计及实验研究:[硕士学位论文][D].合肥:中国科学技术大学工程科学学院,2016
[60]蔡世波,李昆,钱振,等.机器人关节的磁流变柔顺控制器[P].中国专利,CN104552312A.2015-1-9
[61]景甜甜,莫岸,张文增,等.磁流变液间接自适应欠驱动机器人手指装置[P].中国专利,CN104802177A.2015-5-11
[62]Han J,Chen Y H,Zhao X,et al.Optimal design for robust control of uncertain flexible joint manipulators:a fuzzy dynamical system approach[J].International Journal of Control,2017,91(1):1-28
[63]Kortschack A,Fatikow S.Smart materials for actuation in microrobotics[C].In:SPIE’s International Symposium on Smart Materials,Nano-,and Micro-Smart Systems,Melboarne,Australia,2002,4935:1-14
[64]Yang Y,Chen Y,Li Y,et al.Bioinspired robotic fingers based on pneumatic actuator and 3D printing of smart material[J].Soft Robotics,2017,4(2):147-162
[65]Han M W,Ahn S H.Smart materials:blooming knit flowers:loop-inked soft morphing structures for soft robotics[J].Advanced Materials,2017,29(13):1606580
[66]Pfeifer R,Lungarella M,Iida F.Self-organization,embodiment,and biologically inspired robotics[J].Science,2007,318(5853):1088-93
[67]Jones B A,Walker I D.Practical kinematics for real-iime implementation of continuum robots[J].IEEE Transactions on Robotics,2006,22(6):1087-1099
[68]田柳滨,蔡世波,鲍官军,等.磁流变液柔顺关节的设计和运动学建模研究[J].机电工程,2017,34(5):432-437
[69]夏旭.基于串联弹性驱动器的并联柔顺手腕的设计:[硕士学位论文][D].北京:北京交通大学机械与电子工程学院,2016
[70]Manti M,Cacucciolo V,Cianchetti M.Stiffening in soft robotics:a review of the state of the art[J].IEEE Robotics&Automation Magazine,2016,23(3):93-106
[71]Li X,Pan Y,Chen G,et al.Adaptive human-robot interaction control for robots driven by series elastic actuators[J].IEEE Transactions on Robotics,2017,(99):1-14
[72]Li X,Pan Y,Chen G,et al.Continuous tracking control for a compliant actuator with two-stage stiffness[J].IEEE Transactions on Automation Science&Engineering,2018,15(1):57-66
[73]Laschi C,Cianchetti M.Soft robotics:new perspectives for robot bodywear and control[J].Frontiers in Bioengineering&Biotechnology,2014,2(7):3
[74]Pfeifer R.Embodied artificial intelligence 10 years back,10 years forward[J].Lecture Notes in Computer Science,2001,149(1):294-310
[2]刘亚威.美国国防部推进人机协作机器人发展[J].国际航空,2017(5):74-76
[3]赵志瑛.工业机器人安全分析[J].安全与环境学报,1997(5):31-33-042-
[4]丁汉.共融机器人的基础理论和关键技术[J].机器人产业,2016(6):12-17
[5]刘辛军,于靖军,王国彪,等.机器人研究进展与科学挑战[J].中国科学基金,2016(5):425-431
[6]王田苗,郝雨飞,杨兴帮,等.软体机器人:结构、驱动、传感与控制[J].机械工程学报,2017,53(13):1-13
[7]王颜,房立金.机械式仿骨骼肌变刚度机构原理及设计[J].机器人,2015,37(4):506-512
[8]张亚平,周建军,陈耀,等.含弹性环的机器人关节变刚度驱动器设计分析[J].机械科学与技术,2015,34(2):199-203
[9]Wolf S,Hirzinger G.A new variable stiffness design:matching requirements of the next robot generation[C].In:IEEE International Conference on Robotics and Automation,Pasadena,USA,2008.1741-1746
[10]魏慧,帅梅,王中宇,等.仿人机器人可变刚度柔性关节设计[P].中国专利,CN101934525A.2011-1-5
[11]Wolf S,Eiberger O,Hirzinger G.The DLR FSJ:energy based design of a variable stiffness joint[C].In:IEEEInternational Conference on Robotics and Automation.Shanghai,China,2011.5082-5089
[12]Sariyldiz E,Chen G,Yu H.An acceleration-based robust motion controller design for a novel series elastic actuator[J].IEEE Transactions on Industrial Electronics,2016,63(3):1900-1910
[13]Li X,Pan Y,Chen G,et al.Adaptive human-robot interaction control for robots driven by series elastic actuators[J].IEEE Transactions on Robotics,2017,33(1):1-14
[14]Awad M I,Gan D,Cempini M,et al.Modeling,design&characterization of a novel passive variable stiffness joint(p VSJ)[C].In:IEEE/RSJ International Conference on Intelligent Robots and Systems,Daejeon,Korea,2016.323-329
[15]Cui S,Liu Y,Sun Y,et al.Design of a series variable stiffness joint based on antagonistic principle[C].In:International Conference on Intelligent Robotics and Applications,Wuhan,China,2017.238-249
[16]Choi J,Hong S,Lee W,et al.A robot joint with variable stiffness using leaf springs[J].IEEE Transactions on Robotics,2011,27(2):229-238
[17]Kajikawa S,Yonemoto Y.Joint mechanism with a multidirectional stiffness adjuster[C].In:IEEE/RSJ International Conference on Intelligent Robots and Systems,Taipei,China,2010.4194-4200
[18]Kajikawa S,Ito T,Hase H.Stiffness control of variable stiffness joint using electromyography signals[C].In:IEEE International Conference on Robotics and Automation,Karlsruhe,Germany,2013.4928-4933
[19]张立彬,鲍官军,杨庆华,等.气动柔性驱动器及其在灵巧手中的应用研究综述[J].中国机械工程,2008,19(23):2891-2897
[20]Bao G,Cai S,Wang Z,et al.Flexible pneumatic robotic actuator FPA and its applications[C].In:IEEE International Conference on Robotics and Biomimetics,Shenzhen,China,2013.867-872
[21]Shepherd R F,Ilievski F,Choi W,et al.Multigait soft robot[J].Proceedings of the National Academy of Sciences of the United States of America,2011,108(51):20400
[22]Martinez R V,Branch J L,Fish C R,et al.Robotic tentacles with three-dimensional mobility based on flexible elastomers[J].Advanced Materials,2013,25(2),205-212
[23]Stokes A A,Shepherd R F,Morin S A,et al.A Hybrid Combining Hard and Soft Robots[J].Soft Robotics,2014,1(1),70-74
[24]Kwok S W,Morin S A,Mosadegh B,et al.Magnetic assembly of soft robots with hard components[J].Advanced Functional Materials,2013,24(15):2180-2187
[25]Tolley M T,Shepherd R F,Mosadegh B,et al.A resilient untethered soft robot[J].Soft Robotics,2014,1(3):213-223
[26]Mosadegh B,Polygerinos P,Keplinger C,et al.Pneumatic networks for soft robotics that actuate rapidly[J].Advanced Functional Materials,2014,24(15):2163-2170
[27]Mosadegh B,Mazzeo A D,Shepherd R F,et al.Control of soft machines using actuators operated by a braille display[J].Lab Chip,2014,14(1):189-199
[28]Shepherd R F,Stokes A A,Freake J,et al.Using explosions to power a soft robot[J].Angewandte Chemie International Edition,2013,125(10):2964-2968
[29]Martinez R V,Fish C R,Chen X,et al.Elastomeric origami:programmable paper-elastomer composites as pneumatic actuators[J].Advanced Functional Materials,2012,22(7):1376-1384
[30]Yan T,Shuai G.Stiffness characteristic of elongation type pneumatic compliance actuator[J].Journal of Harbin Institute of Technology,2015,47(5):76-80
[31]李小宁,滕燕,杨罡,等.双向柔性的膝关节主-被动康复训练装置[P].中国专利,CN101829004A.2010-9-15
[32]Deshpande A R,Tsez T H,Ren H.Origami-inspired bidirectional soft pneumatic actuator with integrated variable stiffness mechanism[C].In:IEEE International Conference on Advanced Robotics,Hong Kong,China,2017.417-421
[33]王宁扬,孙昊,姜皓,等.一种基于蜂巢气动网络的软体夹持器抓取策略研究[J].机器人,2016,38(3):371-377
[34]Li Y T,Chen Y H,Yang Y,et al,Passive particle jamming and its stiffening of soft robotic grippers[J].IEEETransaction on Robotics,2017,33(2):446-455
[35]鲍官军,李昆,马小龙,等.仿生软体机器人的可变刚度模块[P].中国专利,CN104227721A.2014-12-24
[36]鲍官军,李昆,马小龙,等.主动可变刚度长臂式仿生软体机器人[P].中国专利,CN104440918A.2015-3-25
[37]Giannaccini M E,Xiang C,Atyabi A,et al.Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning[J].Soft Robotics,2018,5(1):54-70
[38]Amend J,Cheng N,Fakhouri S,et al.Soft robotics commercialization:jamming grippers from research to product[J].Soft Robotics,2016,3(4):213
[39]Hauser S,Robertson M,Ijspeert A,et al.Jamm Joint:a variable stiffness device based on granular jamming for wearable joint support[J].IEEE Robotics&Automation Letters,2017,2(2):849-855
[40]Wei Y,Chen Y H,et al,A novel variable stiffness robotic gripper based on integrated soft actuating and particle jamming[J].Soft Robotics,2016,3(3):134-143
[41]Yang Y,Chen Y H,Li Y,et al.Novel variable-stiffness robotic fingers with built-in position feedback[J].Soft Robotics,2017,4(4):338-352
[42]Choi J,Park S,Lee W,et al.Design of a robot joint with variable stiffness[C].In:IEEE International Conference on Robotics and Automation,Pasadena,USA,2008.1760-1765
[43]Hyun M W,Yoo J,Hwang S T,et al.Optimal design of a variable stiffness joint using permanent magnets[J].IEEE Transactions on Magnetics,2007,43(6):2710-2712
[44]Yoo J,Hyun M W,Choi J H,et al.Optimal design of a variable stiffness joint in a robot manipulator using the response surface method[J].Journal of Mechanical Science&Technology,2009,23(8):2236-2243
[45]Zhao Y,Yu J,Wang H,et al.Design of an electromagnetic prismatic joint with variable stiffness[J].Industrial Robot,2017,44(2):222-230
[46]Yun S,Kang S,Kim M,et al.A novel design of high responsive variable stiffness joints for dependable manipulator[C],In:Proceedings of ACMD,Tokyo,Japan,2006.A00695
[47]Manti M,Cacucciolo V,Cianchetti M.Stiffening in soft robotics:a review of the state of the art[J].IEEE Robotics&Automation Magazine,2016,23(3):93-106
[48]Suo Z G.Theory of dielectric elastomers[J].Acta Mechanica Solida Sinica,2010,23(6):549-578
[49]Gu G Y,Zhu J,Zhu L M,et al.A survey on dielectric elastomer actuators for soft robots[J].Bioinspiration&Biomimetics,2017,12(1):011003
[50]王延杰,汝杰,赵东旭,等.离子聚合物-金属复合材料(IPMC)的电极界面研究进展[J].材料导报,2017,31(15):24-29
[51]杭观荣,曹国辉,王振龙,等.SMA驱动的仿生机器人研究现状及其展望[J].微特电机,2006,34(11):4-8
[52]Mahmudru R,Zhi C,Sabariah J L,et al.A review of advances in magnetorheological dampers:their design optimization and applications[J].Journal of Zhejiang University-SCIENCEA,2017,18(12):991-1010
[53]张浩,胡元,李志雄,等.多盘式磁流变离合器的理论研究[J].机械工程师,2014(1):132-133
[54]Shafer A S,Kermani M R.On the feasibility and suitability of MR fluid clutches in human-friendly manipulators[J].IEEE/ASME Transactions on Mechatronics,2011,16(6):1073-1082
[55]戴金桥,王爱民,宋爱国.基于磁流变液的柔性机器人振动控制阻尼器[J].机器人,2010,32(3):358-362
[56]李志海,韩建达,吴镇炜,等.机械阻抗参数可调的机器人柔性驱动旋转关节[P].中国专利,CN203611260U.2014-5-28
[57]王斌锐,金英连,许宏,等.机器人仿生膝关节的计算力矩加比例微分反馈控制[J].机械工程学报,2008,44(1):179-183
[58]吴波.基于磁流变阻尼器的动力型智能假肢动力特性分析:[硕士学位论文][D].哈尔滨:哈尔滨工业大学机电工程学院,2015
[59]蒋楠.基于磁流变液的机器人腿设计及实验研究:[硕士学位论文][D].合肥:中国科学技术大学工程科学学院,2016
[60]蔡世波,李昆,钱振,等.机器人关节的磁流变柔顺控制器[P].中国专利,CN104552312A.2015-1-9
[61]景甜甜,莫岸,张文增,等.磁流变液间接自适应欠驱动机器人手指装置[P].中国专利,CN104802177A.2015-5-11
[62]Han J,Chen Y H,Zhao X,et al.Optimal design for robust control of uncertain flexible joint manipulators:a fuzzy dynamical system approach[J].International Journal of Control,2017,91(1):1-28
[63]Kortschack A,Fatikow S.Smart materials for actuation in microrobotics[C].In:SPIE’s International Symposium on Smart Materials,Nano-,and Micro-Smart Systems,Melboarne,Australia,2002,4935:1-14
[64]Yang Y,Chen Y,Li Y,et al.Bioinspired robotic fingers based on pneumatic actuator and 3D printing of smart material[J].Soft Robotics,2017,4(2):147-162
[65]Han M W,Ahn S H.Smart materials:blooming knit flowers:loop-inked soft morphing structures for soft robotics[J].Advanced Materials,2017,29(13):1606580
[66]Pfeifer R,Lungarella M,Iida F.Self-organization,embodiment,and biologically inspired robotics[J].Science,2007,318(5853):1088-93
[67]Jones B A,Walker I D.Practical kinematics for real-iime implementation of continuum robots[J].IEEE Transactions on Robotics,2006,22(6):1087-1099
[68]田柳滨,蔡世波,鲍官军,等.磁流变液柔顺关节的设计和运动学建模研究[J].机电工程,2017,34(5):432-437
[69]夏旭.基于串联弹性驱动器的并联柔顺手腕的设计:[硕士学位论文][D].北京:北京交通大学机械与电子工程学院,2016
[70]Manti M,Cacucciolo V,Cianchetti M.Stiffening in soft robotics:a review of the state of the art[J].IEEE Robotics&Automation Magazine,2016,23(3):93-106
[71]Li X,Pan Y,Chen G,et al.Adaptive human-robot interaction control for robots driven by series elastic actuators[J].IEEE Transactions on Robotics,2017,(99):1-14
[72]Li X,Pan Y,Chen G,et al.Continuous tracking control for a compliant actuator with two-stage stiffness[J].IEEE Transactions on Automation Science&Engineering,2018,15(1):57-66
[73]Laschi C,Cianchetti M.Soft robotics:new perspectives for robot bodywear and control[J].Frontiers in Bioengineering&Biotechnology,2014,2(7):3
[74]Pfeifer R.Embodied artificial intelligence 10 years back,10 years forward[J].Lecture Notes in Computer Science,2001,149(1):294-310