公开(公告)号：US20140083230A1

公开(公告)日：2014-03-27

申请号：US14114833

申请日：2012-05-02

申请人： Marcello Calisti ,  Andrea Arienti ,  Michele Giorelli ,  Barbara Mazzolai ,  Cecilia Laschi ,  Paolo Dario

发明人： Marcello Calisti ,  Andrea Arienti ,  Michele Giorelli ,  Barbara Mazzolai ,  Cecilia Laschi ,  Paolo Dario

IPC分类号： B25J18/06

CPC分类号： B25J18/06 ,  B25J9/104 ,  B25J15/12 ,  Y10S901/21 ,  Y10T74/20323

摘要： A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities.

摘要翻译： 描述了具有由章鱼寻找的整体结构的机器人。 机器人具有以径向方式连接到中央支撑件的软臂。 软臂具有以线圈形式延长，缩短和缠绕的能力。 由于单一动作之间的相互作用，软武器的极其简单的运动和协调是有效的。 例如在运动过程中，虽然一些武器作为对稳定性的支持，但是其他的则提供了允许机器人前进的推力。 一旦靠近目标，一些武器提供稳定性，而其他武器可以弯曲，以便包裹和运输外部实体。

公开(公告)号：US09314933B2

公开(公告)日：2016-04-19

申请号：US14114833

申请日：2012-05-02

申请人： Marcello Calisti ,  Andrea Arienti ,  Michele Giorelli ,  Barbara Mazzolai ,  Cecilia Laschi ,  Paolo Dario

发明人： Marcello Calisti ,  Andrea Arienti ,  Michele Giorelli ,  Barbara Mazzolai ,  Cecilia Laschi ,  Paolo Dario

IPC分类号： B25J18/06 ,  B25J9/10 ,  B25J15/12

CPC分类号： B25J18/06 ,  B25J9/104 ,  B25J15/12 ,  Y10S901/21 ,  Y10T74/20323

摘要： A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities.

摘要翻译： 描述了具有由章鱼寻找的整体结构的机器人。 机器人具有以径向方式连接到中央支撑件的软臂。 软臂具有以线圈形式延长，缩短和缠绕的能力。 由于单一动作之间的相互作用，软武器的极其简单的运动和协调是有效的。 例如在运动过程中，虽然一些武器作为对稳定性的支持，但是其他的则提供了允许机器人前进的推力。 一旦靠近目标，一些武器提供稳定性，而其他武器可以弯曲，以便包裹和运输外部实体。

公开(公告)号：US09314923B2

公开(公告)日：2016-04-19

申请号：US13823102

申请日：2011-09-14

申请人： Matteo Cianchetti ,  Maurizio Follador ,  Andrea Arienti ,  Cecilia Laschi ,  Barbara Mazzolai ,  Paolo Dario

发明人： Matteo Cianchetti ,  Maurizio Follador ,  Andrea Arienti ,  Cecilia Laschi ,  Barbara Mazzolai ,  Paolo Dario

IPC分类号： B25J9/00 ,  B25J9/10 ,  B25J18/06

CPC分类号： B25J9/1085 ,  B25J18/06 ,  Y10T74/20305

摘要： A robotic limb is described. The robotic limb has a closed tubular casing made of viscoelastic material defining a chamber containing an incompressible fluid. The closed tubular casing has a sheath formed by substantially inextensible intertwined wires. In the chamber there are groups of transverse actuators axially spaced from each other, connected to the sheath and adapted to reversibly contract the closed tubular casing at least partly in the radial direction. The robotic limb also has longitudinal actuators adapted to reversibly contract the closed tubular casing at least partly in the axial direction being connected to each of the groups of transverse actuators.

摘要翻译： 描述了机器人肢体。 机器人肢体具有由粘弹性材料制成的封闭管状壳体，其限定包含不可压缩流体的腔室。 封闭的管状壳体具有由基本上不可延展的缠结线形成的护套。 在腔室中有一组横向致动器，它们彼此轴向间隔开，连接到护套并适于至少部分沿径向方向可逆地收缩封闭的管状外壳。 机器人肢体还具有纵向致动器，其适于至少部分地沿着轴向方向可逆地收缩封闭管状壳体，连接到每个横向致动器组。

公开(公告)号：US20130167683A1

公开(公告)日：2013-07-04

申请号：US13823102

申请日：2011-09-14

申请人： Matteo Cianchetti ,  Maurizio Follador ,  Andrea Arienti ,  Cecilia Laschi ,  Barbara Mazzolai ,  Paolo Dario

发明人： Matteo Cianchetti ,  Maurizio Follador ,  Andrea Arienti ,  Cecilia Laschi ,  Barbara Mazzolai ,  Paolo Dario

IPC分类号： B25J9/10 ,  B25J18/06

CPC分类号： B25J9/1085 ,  B25J18/06 ,  Y10T74/20305

摘要： A robotic limb is described. The robotic limb has a closed tubular casing made of viscoelastic material defining a chamber containing an incompressible fluid. The closed tubular casing has a sheath formed by substantially inextensible intertwined wires. In the chamber there are groups of transverse actuators axially spaced from each other, connected to the sheath and adapted to reversibly contract the closed tubular casing at least partly in the radial direction. The robotic limb also has longitudinal actuating means adapted to reversibly contract the closed tubular casing at least partly in the axial direction being connected to each of the groups of transverse actuators.

摘要翻译： 描述了机器人肢体。 机器人肢体具有由粘弹性材料制成的封闭管状壳体，其限定包含不可压缩流体的腔室。 封闭的管状壳体具有由基本上不可延伸的缠结线形成的护套。 在腔室中有一组横向致动器，它们彼此轴向间隔开，连接到护套并适于至少部分沿径向方向可逆地收缩封闭的管状外壳。 机器人肢体还具有纵向致动装置，其适于至少部分沿轴向方向可逆地收缩封闭管状壳体，该连接装置连接到每组横向致动器。