标题： 软体扭曲梁在欠驱动四足运动中的振动 显示英文标题

标题： Vibration of Soft, Twisted Beams for Under-Actuated Quadrupedal Locomotion

摘要： 通过利用预先设计的、嵌入式的动态行为，欠驱动柔性机器人系统为缓解执行器和控制挑战提供了一种有前景的方法。 本文介绍了Flix-Walker，一种新颖的、无缆的、厘米级的四足机器人，其灵感来源于柔性欠驱动机构。 Flix-Walker采用柔性螺旋形梁作为腿部，仅通过两个电机的振动即可实现三种不同的移动模式。 我们通过仿真和原型实验分析了生成各种运动模式所需的执行器参数。 我们研究了系统和环境变化对运动性能的影响，并提出了一种通用指标，用于选择产生稳健且功能性运动的控制参数。 实验验证了这些执行器参数在闭环控制框架内的有效性和鲁棒性，展示了可靠的轨迹跟踪和自主导航能力。 显示英文摘要

摘要： Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered, centimeter-scale quadrupedal robot inspired by compliant under-actuated mechanisms. Flix-Walker employs flexible, helix-shaped beams as legs, which are actuated by vibrations from just two motors to achieve three distinct mobility modes. We analyze the actuation parameters required to generate various locomotion modes through both simulation and prototype experiments. The effects of system and environmental variations on locomotion performance are examined, and we propose a generic metric for selecting control parameters that produce robust and functional motions. Experiments validate the effectiveness and robustness of these actuation parameters within a closed-loop control framework, demonstrating reliable trajectory-tracking and self-navigation capabilities.