A Fully 3D‐Printed Tortoise‐Inspired Soft Robot with Terrains‐Adaptive and Amphibious Landing Capabilities

Wu, Mingxin; Xu, Ximing; Zhao, Qingwei; Afridi, Waqar Hussain; Hou, Ningzhe; Afridi, Rahdar Hussain; Zheng, Xingwen; Wang, Chen; Xie, Guangming

doi:10.1002/admt.202200536

Cited by 29 publications

(7 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This robot exhibits superior performance on relative motion speed compared with other typical amphibious robots. [2,10,12,14,[39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58] In particular, the relative terrestrial speed reaches to ≈10.9 BL s -1 , which shows the significant superiority of this design. The relative aquatic speed is ≈2.3 BL s -1 , which is not that fast as the terrestrial speed, but still better than most amphibious robots.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

et al. 2022

View full text Add to dashboard Cite

Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi-locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration-driven locomotion mechanism is developed. The robot has two unique rigid-flexible hybrid modules (RFH-modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration-induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm 3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s -1 on ground and 171 mm s -1 on water. The robot, actuated by the RFH-modules based on vibration-driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.

show abstract

Section: Conclusion and Discussionmentioning

confidence: 99%

Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

et al. 2022

View full text Add to dashboard Cite

show abstract

“…The control of soft robots can be divided into two categories: open-loop control (Figure 7a) and closed-loop control. For example, the FEM [10,80,115,269,270] is one of the most popular model-based open-loop control strategies; it represents soft robot (continuum with infinite DOF) as discrete elements; due to the long computation time, FEM is normally used for verification or prediction and has been used for the reverse design of robot structures.…”

Section: Sensing and Controlmentioning

confidence: 99%

“…And as long as they are able to operate in in-water environments, they are considered underwater soft robots. Therefore, amphibious soft robots [8][9][10][11] are also considered as underwater soft robots. Soft robots with superior deformability, environmental adaptability, and simple drive control are well suited for application in underwater environments.…”

Section: Introductionmentioning

confidence: 99%

Recent Advances on Underwater Soft Robots

Qu,

Xu,

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

The ocean environment has enormous uncertainty due to the influence of complex waves and undercurrents. The human beings are limited in their abilities to detect and utilize marine resources without powerful tools. Soft robots employ soft materials to simplify the complex mechanical structures in rigid robots and adapt their morphology to the environment, making them suitable for performing some challenging tasks in place of manual labor. Due to superior flexible and deformable bodies, underwater soft robots have played significant roles in numerous applications in recent decades. Meanwhile, various technical challenges still need to be tackled to ensure the reliability and practical performance of underwater soft robots in complicated ocean environment. Nowadays, some researchers have developed underwater soft robotic systems based on biomimetics and other disciplines, aiming at comprehensive exploration of ocean and appropriate utilization of unexploited resources. This review presents the recent advances of underwater soft robots in the aspects of intelligent soft materials, fabrication, actuation, locomotion patterns, power storage, sensing, control, and modeling; additionally, the existing challenges and perspectives are analyzed as well.

show abstract

“…There are several soft robot designs inspired by biologies, such as the Eelworm robot that can crawl and swim on land [6], and soft robotic snakes that are capable of accessing tight spaces where legged robots cannot [7]. However, legged robots have an advantage in navigating constrained or uneven terrain due to their ability to select contact points with their legs and utilize a variety of efficient gait patterns for different terrains, such as fast limb movements during the swing phase [8]- [10].…”

Section: Introductionmentioning

confidence: 99%

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control

Perera¹,

Arachchige²,

Mallikarachchi³

et al. 2023

Preprint

View full text Add to dashboard Cite

Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait diversity and real-time control, and onboard sensors to sense the surroundings are some of the common issues with soft-limbed robots. To overcome these limitations, we propose a spatially symmetric, topologically-stable, soft-limbed tetrahedral robot that can perform multiple locomotion gaits. We introduce a kinematic model, derive locomotion trajectories for different gaits, and design a teleoperation mechanism to enable realtime human-robot collaboration. We use the kinematic model to map teleoperation inputs and ensure smooth transitions between gaits. Additionally, we leverage the passive compliance and natural stability of the robot for toppling and obstacle navigation. Through experimental tests, we demonstrate the robot's ability to tackle various locomotion challenges, adapt to different situations, and navigate obstructed environments via teleoperation.

show abstract

A Fully 3D‐Printed Tortoise‐Inspired Soft Robot with Terrains‐Adaptive and Amphibious Landing Capabilities

Cited by 29 publications

References 31 publications

Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

Recent Advances on Underwater Soft Robots

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control

Contact Info

Product

Resources

About