Self locomotion of a spherical rolling robot using a novel deformable pneumatic method

Wait, Keith W.; Jackson, Philip J.; Smoot, Lanny

doi:10.1109/robot.2010.5509314

Cited by 49 publications

(23 citation statements)

References 14 publications

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“…Mazzeo et al have recently described a system that is related in concept, although different in execution and application. 22 Prior work 4,[22][23][24][25][26][27][28][29] on soft actuators has suggested a number of approaches related to what we describe here. Wait et al developed a spherical rolling robot using inflatable rubber bladders.…”

Section: Introductionmentioning

confidence: 99%

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Soft, Rotating Pneumatic Actuator

et al. 2017

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This paper describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle), and for locomotion that mimics a reptilian gait (by combining four actuators together).

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Section: Introductionmentioning

confidence: 99%

“…Wait et al developed a spherical rolling robot using inflatable rubber bladders. 23 Rus et al demonstrated the coordinated use of pairs of soft bending actuators to achieve rolling motion. 24 Mazzolai et al demonstrated the use of shape memory alloys to mimic tentacles of octopus.…”

Section: Introductionmentioning

confidence: 99%

Soft, Rotating Pneumatic Actuator

et al. 2017

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“…1 Plenty of methods and structures have been presented to realize rolling locomotion. 9,10 To improve the locomotion capability of spherical robots, Keith et al 11 used "Pneumatic Method" to design a novel deformable spherical rolling robot. [2][3][4][5][6][7][8] The touching area of spherical robot is relatively small, so it can be easily controlled to realize rolling locomotion.…”

Section: Introductionmentioning

confidence: 99%

Dynamic rolling analysis of triangular-bipyramid robot

Tian

Yao

2014

Robotica

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In this paper a rolling robot resembling the shape of a triangular-bipyramid is proposed. The robot has three degrees of freedom and is formed by connecting two tripod mechanisms with three spherical joints. By kinematic analysis, the robot can be viewed as a planar four-bar linkage. Further, its dynamic rolling ability is discussed by Zero Moment Point (ZMP) analysis. We show that the robot has the capability to roll, adjust its step length, and switch rolling directions. These functions are verified by a series of simulations with a CAD (computer-aided design) model and experiments with a prototype.

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“…These actuators, tagged as fluidic elastomer actuators (FEAs) [1], [2], [3] comprise synthetic elastomer films as pneumatic or hydraulic deformation elements fabricated by molding. They are operated by the expansion of embedded fluidic channels under pressure input [4]. FEAs have a large actuation range, limited only by the material's mechanical strength.…”

Section: Introductionmentioning

confidence: 99%

A modular approach to soft robots

Önal

Rus

2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

128

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This paper describes a modular approach to creating soft robotic systems. The basis of these systems is an elastomeric actuation element powered by direct mechanical energy in the form of pressurized fluids. Fluidic elastomer actuators are fast and inexpensive to fabricate and offer safety and adaptability to robotic systems. Arrangements of these units can yield arbitrarily complex motions and achieve various functionalities. Actuation power can be generated on-board by a pneumatic battery, which harnesses the catalyzed chemical decomposition of hydrogen peroxide into oxygen gas, for mobile implementations. The modular nature of these robots enable distributed sensing and computation elements. Composition techniques of such soft robots are defined. Example systems are demonstrated and analyzed.

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Self locomotion of a spherical rolling robot using a novel deformable pneumatic method

Cited by 49 publications

References 14 publications

Soft, Rotating Pneumatic Actuator

Soft, Rotating Pneumatic Actuator

Dynamic rolling analysis of triangular-bipyramid robot

A modular approach to soft robots

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