蛇形机器人没有腿和轮子，是怎么前进的？
With no legs or wheels, how does a snake robot move forward?
蛇形机器人由许多串联关节组成，控制器让各关节按一定相位差做正弦摆动，形成沿身体传播的行波。身体侧面与地面的摩擦各向不同，横向摩擦大于纵向，波动就被转化成向前的推进力。改变波的幅值、波长和相位还能实现侧向蜿蜒、翻滚或攀爬管道。
A snake robot is a chain of many joints; the controller makes each joint oscillate sinusoidally with a fixed phase offset, creating a travelling wave along the body. Because friction with the ground is anisotropic, resisting sideways sliding more than forward sliding, the wave is converted into forward propulsion. Changing the wave amplitude, wavelength and phase produces lateral undulation, rolling or pipe climbing.
难度 进阶 · 适合 大众
CC BY 4.0 · 来源待核验 · Source pending review
来源 · Source
出处备注：本题原挂出处与答案内容不符，已撤回；具体书目待补，暂不展示来源。
本题原挂出处与答案内容不符，已撤回；具体书目待补。
Previous citation withdrawn as unsupported for this answer; a specific source is pending.
#蛇形机器人 #步态 #摩擦
扑翼飞行器和旋翼无人机相比有什么长处和短处？
What are the strengths and weaknesses of flapping-wing craft compared with rotor drones?
扑翼把升力与推力合并在一次拍打中产生，能利用前缘涡获得较高的低速升力，噪声小、外形接近鸟类，适合微型和隐蔽任务。但它的机构复杂、往复运动损耗大，载荷和续航通常不如旋翼。旋翼结构简单、悬停稳定，工程上更成熟。
A flapping wing generates lift and thrust in the same stroke and can exploit a leading-edge vortex for high lift at low speed, while staying quiet and bird-like, which suits micro and covert missions. However the mechanism is complex and reciprocating motion wastes energy, so payload and endurance usually fall short of rotorcraft. Rotors are mechanically simpler, hover steadily and are far more mature in engineering terms.
难度 进阶 · 适合 大众
CC BY 4.0 · 来源待核验 · Source pending review
来源 · Source
出处备注：本题原挂出处与答案内容不符，已撤回；具体书目待补，暂不展示来源。
本题原挂出处与答案内容不符，已撤回；具体书目待补。
Previous citation withdrawn as unsupported for this answer; a specific source is pending.
#扑翼 #微型飞行器 #仿生
软体机器人为什么常模仿章鱼触手的连续弯曲结构？
Why do soft robots often imitate the continuously bending arm of an octopus?
章鱼触手没有关节，靠肌肉阵列在任意位置弯曲，能绕过障碍并温柔地包裹物体。用弹性体加气腔或缆绳驱动可以复制这种连续变形，理论上自由度无限。这类结构天生安全、适合抓取易碎物或在狭缝中穿行，但精确控制和建模比刚性臂难得多。
An octopus arm has no joints; arrays of muscle let it bend anywhere along its length, wrapping gently around objects and threading past obstacles. Elastomer bodies driven by air chambers or tendons reproduce this continuous deformation, giving effectively unlimited degrees of freedom. Such structures are inherently safe and good for fragile objects or narrow gaps, but modelling and precise control are far harder than for rigid arms.
难度 进阶 · 适合 大众
CC BY 4.0 · 已核验 · Verified 2026-11-04
来源 · Source
Papadakis, Tsakiris, Sfakiotakis,《An Octopus-Inspired Soft Pneumatic Robotic Arm》,Biomimetics,2024 (DOI: 10.3390/biomimetics9120773)
Papadakis, Tsakiris, Sfakiotakis, 'An Octopus-Inspired Soft Pneumatic Robotic Arm', Biomimetics, 2024, DOI: 10.3390/biomimetics9120773
独立核验依据 · Independent verification: 核验依据 1 Crossref DOI 10.3390/biomimetics9120773
#软体机器人 #连续体 #仿生
仿壁虎爬墙机器人为什么不用吸盘也能贴在玻璃上？
How can gecko-inspired climbing robots stick to glass without suction cups?
壁虎脚掌上有亿万根纳米级绒毛，与墙面接触面积极大，靠分子间的范德华力产生吸附。仿生脚垫用微米柱阵列复制这种结构，压上去贴合、按特定方向剥离就脱开。它不需要真空，因此在粗糙度合适的干燥表面上比吸盘更省能、更安静。
A gecko's toe pads carry billions of nanoscale hairs that make enormous real contact area, generating adhesion through van der Waals forces between molecules. Biomimetic pads copy this with arrays of micro-pillars that grip when pressed and release when peeled in a particular direction. Because no vacuum is needed, they are quieter and use less energy than suction cups on suitably smooth, dry surfaces.
难度 进阶 · 适合 大众
CC BY 4.0 · 已核验 · Verified 2026-11-04
来源 · Source
Xiang, Honarvar Shakibaei Asli,《Advances in Gecko-Inspired Climbing Robots: From Biology to Robotics—A Review》,Electronics,2025 (DOI: 10.3390/electronics14142810)
Xiang, Honarvar Shakibaei Asli, 'Advances in Gecko-Inspired Climbing Robots: From Biology to Robotics—A Review', Electronics, 2025, DOI: 10.3390/electronics14142810
独立核验依据 · Independent verification: 核验依据 1 Crossref DOI 10.3390/electronics14142810
#仿生 #干附着 #爬壁机器人