Sci Robot.重磅文章！没有腿的软机器人竟能完成3米高的跳跃？

Core Viewpoint - The research highlights the unique jumping mechanism of entomopathogenic nematodes (EPNs) and its potential applications in soft robotics, demonstrating that EPNs can jump up to 20 times their body length and generate approximately 10,000 watts per kilogram of power, surpassing traditional soft robots [19][21]. Group 1: EPNs Characteristics and Research Methodology - EPNs are unique organisms capable of jumping distances 20 times their body length, which is comparable to a human jumping to the height of a three-story building [1]. - To obtain representative EPN samples, researchers cultivated EPNs in a controlled laboratory environment using wax moth larvae as hosts [2]. - The study involved the development of a physical model named SoftJM to simulate the jumping mechanism of EPNs, validated through soft robotics [4]. Group 2: Experimental Design and Findings - Researchers designed a specific experimental setup to induce jumping behavior in EPNs, utilizing vertical filter paper as a jumping platform and controlling environmental conditions [6]. - High-speed cameras recorded the jumping process at frame rates of 10,000 to 30,000 frames per second, capturing key parameters such as body shape changes, jump height, speed, and acceleration [8][9]. - The jumping process of EPNs was divided into three stages: formation of a ring structure, formation of a knot structure, and expansion of the ring structure, which facilitated energy storage and release [19][20]. Group 3: SoftJM Models and Performance Validation - Four types of bio-inspired physical models (SoftJM) were designed to mimic EPNs' jumping mechanism, with variations in stiffness and structure to enhance energy storage and release [11][22]. - The SoftJM 4 model, enhanced with a carbon fiber skeleton, achieved a jump height of up to 25 times its body length, showcasing superior jumping performance [22]. - The performance of these models was closely linked to their aspect ratio and stiffness, indicating that lower aspect ratios and higher stiffness improve energy storage and release efficiency [24]. Group 4: Numerical Simulation and Mechanism Exploration - A Cosserat rod model was employed for numerical simulations to analyze the jumping dynamics of EPNs, confirming the accuracy of experimental results [15][25]. - The simulations revealed that knot instability plays a crucial role in the jumping process, allowing EPNs to efficiently store and release energy [25][27]. - The findings provide theoretical support for optimizing soft robot designs by adjusting aspect ratios and stiffness to enhance jumping performance [27]. Group 5: Future Directions - The research team emphasizes the potential of reversible knot instability in improving soft robot jumping performance and suggests exploring its applications in crawling, swimming, or grasping tasks [28].