Enabling earthworm-like soft robot development using bioinspired IPMC-scissor lift actuation structures: Design, locomotion simulation and experimental validation

Niu, Sanku; Luo, Yudong; Shen, Yantao

doi:10.1109/robio.2015.7418817

Cited by 15 publications

(5 citation statements)

References 4 publications

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“…Similarly, certain new structures can deliver adequate stretching and simulation performance: the linkage mechanism can realize bending function, which can significantly stretch the single segment and can also attach the bristle-like structure to the linkage mechanism for realizing the contraction function ( Takahashi et al, 1995 ). In particular, the scissor structure can perfectly combine the axial shortening and longitudinal elongation together ( Niu et al, 2015 ) to complete the simulation of longitudinal and circular muscles with a single structure. To alter the linear forward motion ( Nakamura et al, 2006 ) into a controllable angle steering motion ( Nakamura and Iwanaga, 2008 ; Omori et al, 2008 ), the linear servo motor can be replaced with an angular servo motor as shown in Figure 11A .…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

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Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot’s segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

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Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

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“…As the interest in ad-hoc construction increases, future developments will relate to aerial 3D printing and curing of smart building materials. Construction related to burrowing and digging highlights PAI methods inspired by plant roots [149] and soft bodied digging animals, like earthworms, that perform growing and digging at the same time [150,151].…”

Section: Pai Adaptation In Construction and Nestingmentioning

confidence: 99%

Adopting Physical Artificial Intelligence in Soft Aerial Robots

Nguyen

Kovač

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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In recent years, there has been a lot more attention towards the utilization of physically intelligent features in robotics. In this work, we provide a perspective on the physical artificial intelligence (PAI) paradigm and its impact on the conceptualization, design, and manufacturing of current and future aerial robots and infrastructure. We highlight the theory, enabling technologies, system features, and the tasks that the PAI paradigm will improve beyond the current approaches with conventional rigid aerial robots. We also discuss the multi-disciplinary effort required to collaborate with and educate researchers in the development of physically intelligent robots. PAI promises to lead the development of a new era of robust flying robotic organisms that are capable of adapting to and performing multi-functional tasks autonomously in a complex and unstructured environment. Aerial robotics is a great field of study to validate PAI as a development methodology.

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“…For example, a structure made for manipulation or lifting of heavy objects would require a strong, rigid structure, while a structure made to reduce the impact of collisions would require a more compliant material to reduce the impact force. Prior work has explored expandable structures constructed with various materials, including metal ( Shikari and Asada, 2018 ), ionic polymer-metal composite ( Niu et al, 2015 ), soft silicon ( Takei et al, 2011a ), latex ( Stevenson et al, 2010 ), plastics ( Sedal et al, 2020 ), and other soft materials. Other promising materials that have yet to be extensively explored for expandable structures integrated with robots include wire structures, wood, and linen.…”

Section: Implementation Considerationsmentioning

confidence: 99%

Designing Expandable-Structure Robots for Human-Robot Interaction

et al. 2022

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In this paper, we survey the emerging design space of expandable structures in robotics, with a focus on how such structures may improve human-robot interactions. We detail various implementation considerations for researchers seeking to integrate such structures in their own work and describe how expandable structures may lead to novel forms of interaction for a variety of different robots and applications, including structures that enable robots to alter their form to augment or gain entirely new capabilities, such as enhancing manipulation or navigation, structures that improve robot safety, structures that enable new forms of communication, and structures for robot swarms that enable the swarm to change shape both individually and collectively. To illustrate how these considerations may be operationalized, we also present three case studies from our own research in expandable structure robots, sharing our design process and our findings regarding how such structures enable robots to produce novel behaviors that may capture human attention, convey information, mimic emotion, and provide new types of dynamic affordances.

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Enabling earthworm-like soft robot development using bioinspired IPMC-scissor lift actuation structures: Design, locomotion simulation and experimental validation

Cited by 15 publications

References 4 publications

Actuation and design innovations in earthworm-inspired soft robots: A review

Actuation and design innovations in earthworm-inspired soft robots: A review

Adopting Physical Artificial Intelligence in Soft Aerial Robots

Designing Expandable-Structure Robots for Human-Robot Interaction

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