Design and control of an inchworm-inspired soft robot with omega-arching locomotion

Guo, Huaxia; Zhang, Jinhua; Wang, Tao; Li, Yuanjie; Hong, Jun; Li, Yue

doi:10.1109/icra.2017.7989477

Cited by 34 publications

(21 citation statements)

References 11 publications

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“…The supplementary video [43] contains experimental demonstration of reversing the crawling direction by reversing the phase difference. This feature enables achieving bi-directional motion of the soft inchworm robot, in contrast to some other works that rely on directional friction by ratchet-like mechanisms [9], [11], [14].…”

Section: Parametric Studymentioning

confidence: 98%

Understanding Inchworm Crawling for Soft-Robotics

Gamus

Salem

Gat

et al. 2020

IEEE Robot. Autom. Lett.

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Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness we study the inchworm crawling of our soft robot with two bending actuators, via an articulated three-link model. The solution of statically indeterminate systems with stick-slip contact transitions requires for a novel hybrid-quasistatic analysis. Then, we utilize our analysis to investigate the influence of phase-shifted harmonic inputs on performance of crawling gaits, including sensitivity analysis to friction uncertainties and energetic cost of transport. We achieve optimal values of gait parameters. Finally, we fabricate and test a fluid-driven soft robot. The experiments display good agreement with the theoretical analysis, proving that our simple model correctly captures and explains the fundamental principles of inchworm crawling and can be applied to other softrobotic legged robots.

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Section: Parametric Studymentioning

confidence: 98%

Understanding Inchworm Crawling for Soft-Robotics

Gamus

Salem

Gat

et al. 2020

IEEE Robot. Autom. Lett.

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“…Generally, the elementary structure of the worm-like robot is composed of one extension module and two clampers, and the extension module is equipped between the two clampers. [29][30][31][32][33][34][35] In our proposed design, the basic structure is composed of two expansion modules at both tips (head expansion module and end expansion module) as the legs and one multi-DoF extension module as the inchworm soft body. The detachable sucking module structure is also proposed and can be conveniently mounted on the corresponding expansion modules.…”

Section: Design Concept and Structure Of The Robotmentioning

confidence: 99%

“…When both sucking modules are mounted on the robot, they cooperate with the expansion module to suck the inner wall when the corresponding expansion module expands and release the inner wall when the corresponding expansion module is relaxed. Compared with the structure and locomotion principle of previous pneumatic worm-like robots, [29][30][31][32][33][34][35][36] our robot has two remarkable features. One is the multi-DoF extension module that enables the robot to adjust the heading direction actively and flexibly.…”

Section: Robotic System Configurationmentioning

confidence: 99%

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Worm-Like Soft Robot for Complicated Tubular Environments

et al. 2019

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This article describes a worm-like soft robot capable of operating in complicated tubular environments, such as the complex pipeline with different diameters, water, oil, and gas environments, or the clinical application in natural orifice transluminal endoscopic surgery. The robot is completely soft and robust, and consists of one multidegree of freedom (DoF) extension module and two clampers for locomotion and steering. The multi-DoF extension module is able to adjust the heading direction in the three-dimensional space. The clamper has a basic expansion module structure and detachable sucking module structure. The combined clamping principle for sticking to the inner wall can be reconfigurable to adapt the tubes with multiple tubular scales and super elastic materials. For fabrication of the mechanical structure, a low-cost and time-efficient method is proposed in this article. Based on our proposed robot, a series of phantom and application experiments are performed. The results demonstrate that the soft robot can freely bend and elongate with the entire soft body, and pass through tubes with changing diameters or branches, dry tubes, liquid environments, hard surfaces, and even soft deformable tubes. It has the ability to remove a load of >10 times its own weight. In addition, an additional visualization unit, biopsy, and electromagnetic sensor are mounted on the robot tip for the real-time image inspection, manipulation, and robot tracking. The proposed worm-like soft robot is compact, flexible-actuated, and sufficiently safe, as well as extensible. Its ability to move in the complex unstructured environment shows a great potential for search and medical applications.

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“…Additionally, smart materials such as dielectric elastomers [8], [32], [33], [40], shape memory alloys [17], [34], [41], magnetoactive elastomers [35], and piezoelectrics [42] have been utilized to implement the actuations as well as their structures. Moreover, we can choose hybrid types by combining different actuating systems [43] or diverse materials [44].…”

Section: Introductionmentioning

confidence: 99%

Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

2021

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In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The robot was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously with a tendon-driven system. The forelegs simultaneously performs pumping and actuating to supply air to the hindlegs, and the hindlegs are passively actuated by the air supply from the forelegs. We conducted a series of experiments to evaluate the mobility performance of OPARO. We measured the posture of each leg and analyzed the movement to determine the operating mechanism in locomotion. The motion, gait, and repeatability of OPARO were analyzed from the experimental results. Additionally, we conducted a parametric study to determine the tendencies at different gait frequencies and motor inputs. The OPARO moves at a maximum velocity of 0.11 body length per second (10.29 mm/s). Furthermore, we evaluated the gait velocity with various gait patterns according to different duty ratios and floor surfaces. Moreover, the steering performance of OPARO was demonstrated. We found that the tendon-driven pneumatic origami pump actuator system is adequate for a quadruped robot without an external air supply system.

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Design and control of an inchworm-inspired soft robot with omega-arching locomotion

Cited by 34 publications

References 11 publications

Understanding Inchworm Crawling for Soft-Robotics

Understanding Inchworm Crawling for Soft-Robotics

Worm-Like Soft Robot for Complicated Tubular Environments

Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

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