Mathematical model of inchworm locomotion

Plaut, Raymond H.

doi:10.1016/j.ijnonlinmec.2015.05.007

Cited by 50 publications

(22 citation statements)

References 58 publications

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“…They can move forward and adjust their heading direction by extending or twisting their soft main body. 37 As shown in Figure 1, the locomotion process can be typically divided into three steps. In the first step, the end section turns to anchor the surrounding wall, and the soft body adjusts the heading direction in the 3D space.…”

Section: Design Concept and Structure Of The Robotmentioning

confidence: 99%

“…However, the excessive radial expansion is the side effect of the chamber's inflation, which will cause extra friction and pressure onto adjacent environments. To eliminate the radical deformation, various constrained layer structures, such as the soft sleeve, 38 reinforced fiber, 29,30,32,33,[37][38][39] or elastomers with different stiffnesses, 40,41 are mainly used to create different shear modules on different parts of the soft actuator. In this article, we designed an embedded constrained layer using nylon fiber.…”

Section: Worm-like Soft Robot For Complicated Tubular Environmentsmentioning

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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Section: Design Concept and Structure Of The Robotmentioning

confidence: 99%

Section: Worm-like Soft Robot For Complicated Tubular Environmentsmentioning

confidence: 99%

Worm-Like Soft Robot for Complicated Tubular Environments

et al. 2019

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“…4, C and D). Locomotion inspired by the inchworm (24,25) was achieved by wrapping a skin around a foam cylinder with polystyrene "feet" on the ends (Fig. 4, E and F).…”

Section: Locomotion Robotsmentioning

confidence: 99%

OmniSkins: Robotic skins that turn inanimate objects into multifunctional robots

et al. 2018

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Robots generally excel at specific tasks in structured environments but lack the versatility and the adaptability required to interact with and locomote within the natural world. To increase versatility in robot design, we present robotic skins that can wrap around arbitrary soft bodies to induce the desired motions and deformations. Robotic skins integrate actuation and sensing into a single conformable material and may be leveraged to create a multitude of controllable soft robots with different functions or gaits to accommodate the demands of different environments. We show that attaching the same robotic skin to a soft body in different ways, or to different soft bodies, leads to distinct motions. Further, we show that combining multiple robotic skins enables complex motions and functions. We demonstrate the versatility of this soft robot design approach in a wide range of applications—including manipulation tasks, locomotion, and wearables—using the same two-dimensional (2D) robotic skins reconfigured on the surface of various 3D soft, inanimate objects.

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“…The motion of inchworm is a kind of periodic peristaltic crawling, and peristaltic attitude presents a certain regular changes. 17,18 The front and the rear feet act as a retainer to maintain a different relationship with land corresponding to different stages, while the trunk portion acts as a tractor. Imitating the motion of inchworm, in-pipe robot adapts the approach that the front and the rear parts are fixed alternately and realizes motion by the middle-part extension and contraction.…”

Section: Locomotion Principle and Structurementioning

confidence: 99%

Development of a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot

Fang

Shang

Luo

et al. 2018

Advances in Mechanical Engineering

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In-pipe robots are usually used to carry many kinds of equipment to operate in the pipeline. In this article, a novel selflocking mechanism for continuous propulsion inchworm in-pipe robot is proposed. The constant power and continuous locomotion principle is obtained by upgrading the traditional pipeline robot. The structure of the inchworm in-pipe robot is designed including self-locking mechanism and telescopic mechanism. The operating principle of self-locking mechanism is analyzed for parameter design and performance evaluation. A new type of hydraulic cylinder series circuit is introduced, which realizes synchronous motion in the related mechanisms of pipe robot. And the dynamic characteristics of the hydraulic cylinders are analyzed and simulated to verify feasibility of the circuit. The prototype is developed to prove that the novel inchworm in-pipe robot can adapt to diameter of 140-180 mm pipe and has 550 N traction ability with the average speed of 0.11 m/s.

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Mathematical model of inchworm locomotion

Cited by 50 publications

References 58 publications

Worm-Like Soft Robot for Complicated Tubular Environments

Worm-Like Soft Robot for Complicated Tubular Environments

OmniSkins: Robotic skins that turn inanimate objects into multifunctional robots

Development of a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot

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