液态金属软体柔性感知机器人技术研究

It is one of the most significant programs for global science and engineering to establish an soft robot with functions owing diverse transformation capabilities among different morphologies. However, it is still a big challenge to achieve the controllable large-scale deformation of robotic body via conventional technologies. We had recently proposed for the first time a new conceptual mollusk like liquid metal flexible machine, whose unusual behaviors perfectly resemble the living organisms in nature. Its basic functions on large scale deformation and coalescence were preliminarily established. Such findings were extensively featured by worldwide science media, which promises great potential for developing new generation soft machine and technology. It is based on our preliminary breakthrough finding and by closely following the theme of coherent robot projection, this project is aimed to establish liquid-metal enabled smart flexible material system and the method to regulate and control its capability; investigate actuating mechanisms of liquid metal soft machine with large deformation based material and structure, and elucidate the unconventional mechanical mechanism of liquid metal structure and its function; develop the unified framework of coupling the actuation, deformation and flexible sensing; develop rapid manufacturing method of liquid metal soft robot; preparation of liquid metal soft robot with flexible sensing for water condition, which could be applied for monitoring diverse environmental signals. This project is expected to be an important step for molding future advanced soft machine and intelligent technology.

实现在不同形态之间自由可控转换的软体机器是科学与工程界的重大课题之一。然而，现有技术在实现受控主体大尺度可控变形等方面存在重大挑战。为此，我们于国际上首次提出了突破传统技术理念的液态金属软体机器概念，初步实现了液态金属大尺度变形及融合等基本功能，相应研究引起广泛反响并显示重要价值。本项目紧扣共融机器人重点计划总体目标，基于前期研究基础，通过建立液态金属智能柔性材料体系及性能调控方法，从材料与结构双向发展液态金属大尺度软体变形的制动方法，揭示液态金属柔性智能材料非常规力学规律，构建液态金属机器软体变形与柔性感知方法，发展液态金属软体机器结构与功能快速制造方法，研制出水中液态金属软体柔性感知机器人原理样机并初步实现多种环境信号监测。本项目的实施可望促成崭新概念的液态柔性机器理论与技术体系的形成和发展，促进我国室温液态金属基础和应用研究，抢占未来可变形柔性智能机器科技发展的制高点。

作为“共融机器人”重大研究计划的子项目之一，本项目围绕共融机器人重要特征（柔顺灵巧的结构和多模态感知的功能），提出研究液态金属软体柔性感知机器人。本项目聚焦于液态金属柔性机器人所涉及的功能材料、变形与运动、感知等关键科学问题，取得的成果包括：1）建立了液态金属智能柔性多功能材料体系：研制出轻量化液态金属、液态金属磁流体、永磁性液态金属、液态金属泡沫、彩色液态金属及液态金属弹性体等多功能材料，构建了基于多物理场的液态金属复合材料性能调控方法；2）建立了系列液态金属柔性机器致动方法：揭示了外场作用下多相体系中液态金属界面变形与运动机理，探明了磁控液态金属致动、电化学液态金属界面变形及基于液态金属燃料的弹跳机器人等系列柔性驱动技术；3）构建了一定的液态金属软体柔性感知机器体系：发展了基于液态金属的温湿度、压力及形变、磁场响应等多种传感技术，研制出磁控液态金属爬行机器人、仿生型液态金属水母及液态金属弹跳机器人等原理样机，探索了液态金属柔性机器运动与感知协同技术，提出了研制未来先进柔性机器人的一般原则-智能液体集成（I-LIFE）原理。项目自实施以来发表期刊论文58篇，其中SCI论文53篇（含封面故事类论文12篇和IF>10论文12篇）；申请专利12项；在国际知名出版机构Springer出版液态金属柔性机器主题的前沿著作1部，填补了国内外学术文献空白；项目执行中培养研究生22名；组织召开国内外首届液态金属机器人高峰论坛及大赛，为液态金属柔性感知机器领域的学者提供了一个重要的学术交流平台。