A Spinal Bistable Oscillator for Autonomous Actuation and Tunable Frequency on Crawling Robot

作     者：Wenwei Wang Jitao Peng Lei Liu Yehui Shen Jinfang Shi Hongbin Zang Wenwei Wang;Jitao Peng;Lei Liu;Yehui Shen;Jinfang Shi;Hongbin Zang

作者机构：School of Manufacturing Science and EngineeringKey Laboratory of Testing Technology for Manufacturing ProcessMinistry of EducationSouthwest University of Science and TechnologyMianyang621010China Tianfu Institute of Research and InnovationSouthwest University of Science and TechnologyChengdu610299China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报(英文版))

年 卷 期：2025年第22卷第1期

页      面：96-106页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by Sichuan Provincial Department of Science and Technology Key Research and Development Program in High-Tech Fields(2022YFG0240) 

主　　题：Spinal bistable oscillator Self-crawling robot Physical intelligence Pneumatic soft robot 

摘      要：Pneumatic soft robots have undergone significant advancements in recent ***,the majority of robot motion control still relies on electronic computers to regulate the valves and air *** the potential reduction in controller dependency by utilizing soft pneumatic oscillators,challenges such as low flow rates,complex manufacturing processes,and lack of adjustment ability *** by the geckos spine,we propose a Spinal Bistable Oscillator(SBO)that operates without discrete components or electronic control hardware,achieving stable oscillatory motion under constant air *** oscillator employs a soft control valve and lagging pin,which can switch the direction of airflow conduction based on the oscillation angle of the *** types of actuators can be controlled using a series *** this study,the effective working range of the soft control valve,influence of the spring pretension force on the torque during oscillation,and effect of different throttle tube lengths on the oscillation frequency were ***,a self-crawling robot was *** results demonstrate that the robot can crawl at speeds ranging from 3.6 to 5.7 mm/s(or 3.1 to 4.9 body length/min)and overcome its own gravity(with a weight of 165 g)to climb *** SBO proposed in this study exhibits characteristics of lightweight,low cost,high oscillation torque,and tunable *** holds promise for application in joint control of future pneumatic soft robots.