科学家研发出由单体机器人集群成的可光控机器人，可用于清障和越障
Scientists Develop Light-Controllable Robot Assembled from Monomer Robot Swarms for Obstacle Clearing and Traversal
近日，法国和美国科学家联合在机器人领域著名期刊Science Robotics上发表了一篇题为《从独立和无意识机器人集群到定向移动灵活超结构机器人》（ From collections of independent, mindless robots to flexible, mobile, and directional superstructures ）。论文研究表明，该研究团队通过棒状的单体机器人和柔性支架组合成为一种超结构新型机器人，该机器人可以根据不同的地形从而使得自身变形，从而实现越障和运输，可以代替单体机器人实现一些复杂的任务。
Recently, scientists from France and the United States jointly published a paper titled "From Collections of Independent, Mindless Robots to Flexible, Mobile, and Directional Superstructures" in the prestigious robotics journal Science Robotics. The research shows that the team combined rod-shaped monomer robots with flexible brackets to create a novel superstructure robot. This robot can deform itself according to different terrains, enabling obstacle traversal and transportation, and can replace monomer robots in performing complex tasks.
单体和超结构机器人的组成
Composition of Monomer and Superstructure Robots
不同于化学中的超结构含义，该研究里提到的超结构指的是基于机器人集群的新型复合结构。椭圆形状的单体机器人的尺寸为 4.5 cm * 1.5 mm，在研究当中，研究人员利用偏转运动产生这种机器人的定向移动。而为了产生偏转运动，单体机器人的软体驱动足设计成了非对称结构，而且嵌入带有电源模块的偏心质量电机以实现驱动。因此，机器人的运动速度通过可以调整驱动频率和电压来进行控制。同时，由于嵌入了光敏粒子，可以通过控制光来控制单体机器人，从而控制超结构机器人的定点移动。
Unlike the meaning of superstructure in chemistry, the superstructure mentioned in this research refers to a novel composite structure based on robot swarms. The elliptical monomer robots measure 4.5 cm × 1.5 mm. In the study, the researchers utilized deflection motion to generate directional movement of the robots. To produce this deflection motion, the soft actuating feet of the monomer robots were designed with an asymmetrical structure, and eccentric mass motors with built-in power modules were embedded to achieve actuation. Therefore, the robot's movement speed can be controlled by adjusting the driving frequency and voltage. Meanwhile, due to the incorporation of photosensitive particles, the monomer robots can be controlled by light, enabling precise position control of the superstructure robot.
超结构机器人则是由若干个单体机器人和柔性支架组成，通过产生循环振动来产生定向运动。这样一来，超结构机器人的运动能力就取决于单体机器人的输出特性。由于支架的空间灵活性，超结构机器人可以变形并穿过狭窄的空间和实现越障，赋予了该类机器人的空间探索能力。
The superstructure robot consists of several monomer robots and flexible brackets, generating directional motion through cyclic vibrations. Thus, the locomotion capability of the superstructure robot depends on the output characteristics of the monomer robots. Thanks to the spatial flexibility of the brackets, the superstructure robot can deform, pass through narrow spaces, and traverse obstacles, endowing this type of robot with spatial exploration capabilities.
图 1 | 利用光控制的单体机器人集群到超结构机器人（ 来源：Science Robotics）
Figure 1 | Light-controlled monomer robot swarms transitioning to superstructure robots (Source: Science Robotics)
为了探索其运动性能，研究人员对这种超结构机器人在对复杂几何形状空间的探索进行了研究，分别完成负载、越障、清障等任务。在实验中，为了追踪这些单体机器人的运动轨迹和获取相关运动数据，研究人员把单体机器人涂成了黑色，便于观察。
To explore its locomotion performance, the researchers studied the superstructure robot's ability to navigate complex geometric spaces, completing tasks such as load carrying, obstacle traversal, and obstacle clearing. In the experiments, to track the movement trajectories of these monomer robots and obtain relevant motion data, the researchers painted the monomer robots black for better observation.
超结构机器人在直通道中的运动
Movement of the Superstructure Robot in Straight Channels
在多个单体机器人开始偏心旋转运动具体在一起，在一定时间后，这种偏转运动转化为超结构机器人才开始运动，实现简单的直线运动：
When multiple monomer robots begin eccentric rotational motion and aggregate together, after a certain period, this deflection motion transforms into movement of the superstructure robot, achieving simple linear motion:
动图1 | 超结构机器人在直通道中的直线运动（ 来源：Science Robotics）
Animation 1 | Linear motion of the superstructure robot in a straight channel (Source: Science Robotics)
而且在椭圆型通道中，超结构机器人可以适应地形以进行拐弯：
Moreover, in elliptical channels, the superstructure robot can adapt to the terrain for turning:
动图 2 | 超结构机器人在直通道可以适应地形运动（ 来源：Science Robotics）
Animation 2 | The superstructure robot adapting to terrain motion in a straight channel (Source: Science Robotics)
图 2 | 超结构机器人在直通道中的运动能力（ 来源：Science Robotics）
Figure 2 | Locomotion capability of the superstructure robot in straight channels (Source: Science Robotics)
超结构机器人穿越不同宽度通道
Superstructure Robot Traversing Channels of Different Widths
实际情况下的地形是十分复杂的，越障能力的提高对于进行空间探索机器人的发展至关重要。因此，研究人员研究了超结构机器人在越障时的能力，而能力评价标准之一是越障时所花的时间。
Real-world terrains are highly complex, and improving obstacle traversal capability is crucial for the development of space exploration robots. Therefore, the researchers studied the obstacle traversal capability of the superstructure robot, with one evaluation criterion being the time required for obstacle traversal.
动图3 | 超结构机器人穿越狭隘地形（ 来源：Science Robotics）
Animation 3 | Superstructure robot traversing narrow terrain (Source: Science Robotics)
此外，研究人员对比了实验和仿真下的超结构机器人在不同宽度通道下的运动能力：
In addition, the researchers compared the locomotion capability of the superstructure robot in channels of different widths under experimental and simulation conditions:
图 3 | 仿真和实验环境下的超结构机器人越障能力对比（ 来源：Science Robotics）
Figure 3 | Comparison of obstacle traversal capability of the superstructure robot in simulation and experimental environments (Source: Science Robotics)
不仅可以实现自身的运动，超结构机器人还可以通过单体机器人的运动来实现负载（ carrying load ），而且这种超结构机器人的负载能力可以达到其自身重量的一半：
Not only can it achieve self-locomotion, but the superstructure robot can also carry loads through the movement of monomer robots, and its load capacity can reach half of its own weight:
动图 4 | 超结构机器人负载进行运动（ 来源：Science Robotics ）
Animation 4 | Superstructure robot moving with a load (Source: Science Robotics)
而且还可以负载的同时，由于自身结构的优越性，轻松实现越障：
Furthermore, while carrying a load, thanks to its superior structural design, it can easily traverse obstacles:
动图 5 | 超结构机器人负载同时实现越障（ 来源：Science Robotics）
Animation 5 | Superstructure robot traversing obstacles while carrying a load (Source: Science Robotics)
图 5 | 超结构机器人负载穿过圆柱体（障碍）（ 来源：Science Robotics）
Figure 5 | Superstructure robot carrying a load through a cylinder (obstacle) (Source: Science Robotics)
单体机器人和超结构机器人的应用
Applications of Monomer Robots and Superstructure Robots
当路面上存在障碍物（空心圆柱体）时，机器人还可以实现对路面进行清理。研究人员对比了两种类型的机器人在清障效果。
When obstacles (hollow cylinders) are present on the surface, the robot can also clear the path. The researchers compared the obstacle-clearing effectiveness of both types of robots.
动图 6 | 单体机器人清障（ 来源：Science Robotics）
Animation 6 | Monomer robot clearing obstacles (Source: Science Robotics)
可以发现单体机器人的清障能力有限，而装载了 20 个单体机器人超结构机器人在不到 40 秒的时间里把空圆柱推出场地，实现高效率的路面清障：
It can be observed that the monomer robot has limited obstacle-clearing capability, while the superstructure robot equipped with 20 monomer robots can push the hollow cylinder out of the area in less than 40 seconds, achieving highly efficient surface clearing:
动图 7 | 多体机器人对路面进行高效率清障（ 来源：Science Robotics）
Animation 7 | Multi-robot system for efficient surface clearing (Source: Science Robotics)
可实现光控驱动的超结构机器人
Light-Controllable Superstructure Robot
当没有光线时，超结构机器人处于静止状态。当灯打开 10 秒后，由于单体机器人嵌入了光敏粒子，光照射到光电晶体管上时，机器人的电机被驱动，从而驱动组会产生顺时针方向的偏转运动，机器人之间发生碰撞，形成一个移动集群，最终实现超结构机器人的驱动：
When there is no light, the superstructure robot remains stationary. After the light is turned on for 10 seconds, because the monomer robots are embedded with photosensitive particles, when light shines on the phototransistors, the robot's motors are activated, causing the drive units to produce clockwise deflection motion. Collisions occur between the robots, forming a moving cluster, ultimately achieving actuation of the superstructure robot:
动图 8 | 光线控制机器人进行运动（ 来源：Science Robotics）
Animation 8 | Light-controlled robot movement (Source: Science Robotics)
同样，光线控制下的超结构机器人也可以实现越障和用于清障：
Similarly, the superstructure robot under light control can also achieve obstacle traversal and clearing:
图 6 | 光线控制下的超结构机器人用于清洁场地和越障（ 来源：Science Robotics）
Figure 6 | Light-controlled superstructure robot used for site clearing and obstacle traversal (Source: Science Robotics)
该团队对超结构机器人进行了研究，包括对机器人进行负载穿过障碍或清理场地。还提出了使用光对超结构机器人进行基本控制。发现可以通过使用结构简单，价格便宜的单体机器人能够制造出具有空间探索特性的灵活的超结构机器人，为未来机器人清理障碍物，通过收缩通道等难题提供了一定的研究价值。
The team conducted research on the superstructure robot, including load-carrying through obstacles and site clearing. They also proposed basic light-based control of the superstructure robot. The study found that simple, inexpensive monomer robots can be used to fabricate flexible superstructure robots with spatial exploration characteristics, providing certain research value for future robot applications in obstacle removal and traversing constricted passages.
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