从地面到垂直墙无缝切换！密歇根大学×上海交大联合研发SPARC，突破软体机器人天花板！

Core Insights - The article discusses the development of SPARC, a soft robot designed for precise movement in three-dimensional environments, overcoming challenges faced by traditional soft robots [2][6]. Group 1: SPARC Development and Design - SPARC is a soft, proprioceptive, agile robot capable of climbing and exploring in 3D environments, utilizing a unique origami structure for movement on both horizontal and vertical surfaces [2][3]. - The robot integrates three parallel Kresling origami actuators and suction cup structures, allowing for three-dimensional driving and adhesion on various surfaces [5][9]. - SPARC can carry a payload of 500 grams, which is more than twice its own weight of 210 grams, demonstrating significant load-bearing capabilities [5][17]. Group 2: Technical Innovations - The Kresling origami actuators provide a 60% contraction rate and a driving force of 3 kilograms under -80 kPa vacuum conditions, with a lifespan exceeding 20,000 cycles [7][8]. - The robot employs a dual closed-loop control system for precise posture management and global positioning adjustments, enhancing trajectory tracking accuracy [5][14]. - SPARC's tracking control algorithm has shown low tracking errors of approximately 0.5% on horizontal surfaces and under 3% on vertical paths, indicating robust performance [17]. Group 3: Motion Strategies and Testing - The research team conducted systematic tests to evaluate SPARC's performance in various conditions, including carrying a 500-gram load and navigating complex paths [16][19]. - A modular configuration of SPARC was explored, allowing for enhanced bending angles and step lengths, facilitating smoother transitions from ground to vertical surfaces [19][20]. - The robot's climbing strategy was optimized for vertical environments, reducing collision risks and improving safety during operation [20].