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本文根据仿生学原理，提出了在电致伸缩陶瓷致动条件下借助电流变技术实现蠕动微机器人结构智能化的方法，并讨论了其运动模型及机制
Based on the bionics principle, this paper proposes a method to realize peristaltic micro-robot’s structure intelligentized by electrorheological technology under the condition of electrostrictive ceramic actuation, and discusses its motion model and mechanism