重庆理工大学学报2026，Vol.40Issue(9)：83-89,7.DOI:10.3969/j.issn.1674-8425(z).2026.05.010
软体机器人结构设计进展综述
A review of advances in the structural design of soft robots
摘要
Abstract
Soft robots overcome the limitations of traditional rigid robots in unstructured environments through bio-inspired design and flexible materials.This paper examines advances in bio-inspired structural design of soft robots,categorizing them into four main types:peristaltic,bending,zigzagging,and underwater robots.The flexible materials(e.g.elastomers,shape memory alloys)used for each type of robots and the control algorithms and sensor technologies of the corresponding soft robots are explored in detail,and typical cases such as self-healing earthworm robots,magnetically driven inchworms,modular snake robots and variable stiffness structures are discussed.Despite significant advantages in environmental adaptability,soft robots still face such challenges as insufficient control precision,low material durability,and limited energy efficiency.Therefore,future research should focus on developing adaptive control algorithms,high-sensitivity sensor integration,sustainable energy solutions,and interdisciplinary collaboration to advance their applications in medical,rescue,and prospecting fields.关键词
结构设计/软体机器人/仿生结构/仿生机器人Key words
structural design/soft robots/bionic structure/bionic robots分类
信息技术与安全科学引用本文复制引用
王志军,孙印..软体机器人结构设计进展综述[J].重庆理工大学学报,2026,40(9):83-89,7.基金项目
国家自然科学青年基金项目(51505124) （51505124）
唐山市科技创新团队培养计划项目(21130208D) （21130208D）
唐山市科技计划项目(25130211B) （25130211B）
华北理工大学重点科研项目(ZD-YG-JBGS202501-25) （ZD-YG-JBGS202501-25）
