An Analysis of Peristaltic Locomotion for Maximizing Velocity or Minimizing Cost of Transport of Earthworm-Like Robots

Kandhari, Akhil; Wang, Yifan; Chiel, Hillel J.; Quinn, Roger D.; Daltorio, Kathryn A.

doi:10.1089/soro.2020.0021

Cited by 32 publications

(29 citation statements)

References 92 publications

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“…Specifically, e-AnA embodies in one matrix the balance of expansion, and contraction that we previously hypothesized is required by a series of peristaltic muscle activations. [51,52,57] As a result, e-AnA deforms more evenly in confined tubes. In contrast, isotropic lattices demonstrate localized deformation (aka jamming), and thus traverse confined spaces less well.…”

Section: Motile Robots With Ana Skinsmentioning

confidence: 99%

“…Poisson's ratio is especially critical for worm‐like crawling in an idealized model, the greater the Poisson's ratio, the more efficient the robot. [ 51 ] We have previously shown how mechanisms with an effective Poisson's ratio of 1.5 enable segments to both advance and anchor. [ 52 ] Others have shown that AnAs can be added to inchworm robots to enable alternating engagement and detachment.…”

Section: Motile Robots With Ana Skinsmentioning

confidence: 99%

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Piece‐By‐Piece Shape‐Morphing: Engineering Compatible Auxetic and Non‐Auxetic Lattices to Improve Soft Robot Performance in Confined Spaces

Dikici

Jiang

et al. 2022

Adv Eng Mater

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Shape‐morphing capabilities of metamaterials can be expanded by developing approaches that enable the integration of different types of cellular structures. Herein, a rational material design process is presented that fits together auxetic (anti‐tetrachiral) and non‐auxetic (the novel nodal honeycomb) lattice structures with a shared grid of nodes to obtain desired values of Poisson's ratios and Young's moduli. Through this scheme, deformation properties can be easily set piece by piece and 3D printed in useful combinations. For example, such nodally integrated tubular lattice structures undergo worm‐like peristalsis or snake‐like undulations that result in faster speeds than the monophasic counterpart in narrow channels and in wider channels, respectively. In a certain scenario, the worm‐like hybrid metamaterial structure traverses between confined spaces that are otherwise impassable for the isotropic variant. These deformation mechanisms allow us to design shape‐morphing structures into customizable soft robot skins that have improved performance in confined spaces. The presented analytical material design approach can make metamaterials more accessible for applications not only in soft robotics but also in medical devices or consumer products.

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Section: Motile Robots With Ana Skinsmentioning

confidence: 99%

Section: Motile Robots With Ana Skinsmentioning

confidence: 99%

Piece‐By‐Piece Shape‐Morphing: Engineering Compatible Auxetic and Non‐Auxetic Lattices to Improve Soft Robot Performance in Confined Spaces

Dikici

Jiang

et al. 2022

Adv Eng Mater

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“…Our work is based on a 2 × 1 wave mode of motion, and this is the simplest method of movement for a physical robot. An actual earthworm or other soft animals can vary the patterns of coordination used for locomotion, and our previous study also indicates performance improvements by optimizing this wave pattern [21]. We can find inspiration from these animals and apply their modes of motion to our worm-like robot.…”

Section: Discussionmentioning

confidence: 92%

“…Planning for worm-like robots presents unique challenges compared to rigid robots [21]. Reachable space is limited.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance Path Planning for Worm-like Robot Using Bézier Curve

et al. 2021

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Worm-like robots have demonstrated great potential in navigating through environments requiring body shape deformation. Some examples include navigating within a network of pipes, crawling through rubble for search and rescue operations, and medical applications such as endoscopy and colonoscopy. In this work, we developed path planning optimization techniques and obstacle avoidance algorithms for the peristaltic method of locomotion of worm-like robots. Based on our previous path generation study using a modified rapidly exploring random tree (RRT), we have further introduced the Bézier curve to allow more path optimization flexibility. Using Bézier curves, the path planner can explore more areas and gain more flexibility to make the path smoother. We have calculated the obstacle avoidance limitations during turning tests for a six-segment robot with the developed path planning algorithm. Based on the results of our robot simulation, we determined a safe turning clearance distance with a six-body diameter between the robot and the obstacles. When the clearance is less than this value, additional methods such as backward locomotion may need to be applied for paths with high obstacle offset. Furthermore, for a worm-like robot, the paths of subsequent segments will be slightly different than the path of the head segment. Here, we show that as the number of segments increases, the differences between the head path and tail path increase, necessitating greater lateral clearance margins.

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“…The contraction of in-plane crawlers is usually achieved through contractile structures (14)(15)(16) or soft materials (17)(18)(19). Most of the crawlers based on contractive mechanisms only demonstrate straight motion by actuating either the whole body with a single actuator (20,21) or several individual segments synergistically with multiple actuators (22,23). On the other hand, the steering function requires additional mechanisms with added actuators (24).…”

Section: Introductionmentioning

confidence: 99%

Soft robotic origami crawler

et al. 2022

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Biomimetic soft robotic crawlers have attracted extensive attention in various engineering fields, owing to their adaptivity to different terrains. Earthworm-like crawlers realize locomotion through in-plane contraction, while inchworm-like crawlers exhibit out-of-plane bending-based motions. Although in-plane contraction crawlers demonstrate effective motion in confined spaces, miniaturization is challenging because of limited actuation methods and complex structures. Here, we report a magnetically actuated small-scale origami crawler with in-plane contraction. The contraction mechanism is achieved through a four-unit Kresling origami assembly consisting of two Kresling dipoles with two-level symmetry. Magnetic actuation is used to provide appropriate torque distribution, enabling a small-scale and untethered robot with both crawling and steering capabilities. The crawler can overcome large resistances from severely confined spaces by its anisotropic and magnetically tunable structural stiffness. The multifunctionality of the crawler is explored by using the internal cavity of the crawler for drug storage and release. The magnetic origami crawler can potentially serve as a minimally invasive device for biomedical applications.

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An Analysis of Peristaltic Locomotion for Maximizing Velocity or Minimizing Cost of Transport of Earthworm-Like Robots

Cited by 32 publications

References 92 publications

Piece‐By‐Piece Shape‐Morphing: Engineering Compatible Auxetic and Non‐Auxetic Lattices to Improve Soft Robot Performance in Confined Spaces

Piece‐By‐Piece Shape‐Morphing: Engineering Compatible Auxetic and Non‐Auxetic Lattices to Improve Soft Robot Performance in Confined Spaces

Obstacle Avoidance Path Planning for Worm-like Robot Using Bézier Curve

Soft robotic origami crawler

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