A Review of Soft Robots Enabled by Transient Driving Method
YANG Yang1,2, HE Zhiguo1,3,4, JIAO Pengcheng1,3,4, WANG Haipeng1, LI Wentao1, YE Xinghong1, LIN Guanzheng1, SONG Wei1,3, REN Hongliang2,5
1. Ocean College, Zhejiang University, Zhoushan 316021, China; 2. Department of Biomedical Engineering, National University of Singapore, Singapore 119077, Singapore; 3. Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhejiang University, Zhoushan 316021, China; 4. Hainan Research Institute, Zhejiang University, Sanya 572000, China; 5. Electronic Engineering Department, The Chinese University of Hong Kong, Hong Kong 999077, China
杨旸, 贺治国, 焦鹏程, 王海鹏, 李文焘, 叶星宏, 林官正, 宋伟, 任洪亮. 瞬变速软体机器人研究综述[J]. 机器人, 2022, 44(5): 626-640.DOI: 10.13973/j.cnki.robot.210310.
YANG Yang, HE Zhiguo, JIAO Pengcheng, WANG Haipeng, LI Wentao, YE Xinghong, LIN Guanzheng, SONG Wei, REN Hongliang. A Review of Soft Robots Enabled by Transient Driving Method. ROBOT, 2022, 44(5): 626-640. DOI: 10.13973/j.cnki.robot.210310.
Abstract：Soft robots enabled by the transient driving method (TDM) are a type of high-speed devices that can generate high-speed actuation (greater than 1 time of body-length per second) by large deformations of flexible materials within a short time (less than 1 s). In this paper, the state of the art of the TDM-enabled soft robots at home and abroad is summarized, and the robots are classified according to their driving principles. The TDM-enabled soft robots are surveyed with respect to the motion modeling and simulation methods while proposing a multi-field coupled simulation method. The technical characteristics, difficulties, accuracies, and potential developmental works of the simulation studies are discussed. Current applications of the TDM-enabled soft robots are summarized, and the potential designs and applications in different scenarios are prospected.
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