软机器人的设计、制作与控制

软机器人的设计、制作与控制(中文5900字,英文5800字)
传统上，工程师们采用刚性材料制造精确的，可预测的机器人系统，这是很容易被建模为刚性构件连接的离散关节。然而，自然系统经常匹配或超过的性能的机器人系统与变形的机构。头足类动物，例如，达到操纵和运动的惊人壮举没有骨架；甚至脊椎动物如人类实现动态步态在兼容的骨骼和软组织的弹性能量的储存。受自然的启发，工程师们已经开始探索兼容的材料组成的软体机器人的设计与控制。本文综述了近年来新兴领域的发展情况。
Design, fabrication and control of soft robots
    Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of so