Inchworm-inspired robots have become a prominent fixture in bionic research, mainly owing to the hotspot's focus on manufacturing actuating materials and bionic structures. An inchworm can crawl stably along a contact surface using gait control, achieved through muscle actuation and accurate perception of its crawling posture. Currently, posture perception is an important aspect often neglected by inchworm-inspired robots. Inspired by the stable crawling behavior of the inchworm, this paper proposes a crawling soft robot with electrically driven artificial muscle, sensing ability, and key parts of the anisotropic friction unit that can sense and control crawling behavior. The electric-driven artificial muscle comprises a liquid crystal elastomer and electric heating film, which can achieve low-voltage actuating deformation. The sensing ability is based on a carbon nanotube-based mesh-like structure, which can accurately monitor deformation. The robot uses the anisotropic friction unit to move forward during crawling. The crawling gait of the inchworm-inspired soft robot is accurately detected through sensing and perception. The fuzzy control system achieves the precise control of crawling step gait. Crawling using accurate perception and feedback control opened a new way of researching soft crawling robots.

中文翻译：

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基于变形自感知的可控运动软体机器人

受尺蠖启发的机器人已成为仿生研究的重要组成部分，这主要是由于该热点重点关注制造驱动材料和仿生结构。尺蠖可以使用步态控制沿着接触面稳定地爬行，这是通过肌肉驱动和对其爬行姿势的准确感知来实现的。目前，姿势感知是受尺蠖机器人启发的一个经常被忽视的重要方面。受尺蠖稳定爬行行为的启发，本文提出了一种具有电驱动人工肌肉、具有传感能力以及能够感知和控制爬行行为的各向异性摩擦单元关键部件的爬行软机器人。该电驱动人工肌肉由液晶弹性体和电热膜组成，可实现低压致动变形。传感能力基于碳纳米管的网状结构，可以准确地监测变形。机器人在爬行过程中利用各向异性摩擦单元向前移动。通过感知和感知，精确检测尺蠖软体机器人的爬行步态。模糊控制系统实现了爬行步态的精确控制。利用精确感知和反馈控制的爬行开辟了研究软爬行机器人的新途径。