| Autor: |
Nemiroski A; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Shevchenko YY; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Stokes AA; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Unal B; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Ainla A; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Albert S; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Compton G; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., MacDonald E; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Schwab Y; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Zellhofer C; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts., Whitesides GM; 1 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.; 2 Wyss Institute for Biologically Inspired Engineering, Harvard University , Cambridge, Massachusetts.; 3 Kavli Institute for Bionano Science and Technology, Harvard University , Cambridge, Massachusetts. |
| Abstrakt: |
This article describes a class of robots-"arthrobots"-inspired, in part, by the musculoskeletal system of arthropods (spiders and insects, inter alia). Arthrobots combine mechanical compliance, lightweight and simple construction, and inexpensive yet scalable design. An exoskeleton, constructed from thin organic polymeric tubes, provides lightweight structural support. Pneumatic joints modeled after the hydrostatic joints of spiders provide actuation and inherent mechanical compliance to external forces. An inflatable elastomeric tube (a "balloon") enables active extension of a limb; an opposing elastic tendon enables passive retraction. A variety of robots constructed from these structural elements demonstrate (i) crawling with one or two limbs, (ii) walking with four or six limbs (including an insect-like triangular gait), (iii) walking with eight limbs, or (iv) floating and rowing on the surface of water. Arthrobots are simple to fabricate and are able to operate safely in contact with humans. |
