TY - GEN
T1 - Design and control of an inchworm-inspired soft robot with omega-arching locomotion
AU - Guo, Huaxia
AU - Zhang, Jinhua
AU - Wang, Tao
AU - Li, Yuanjie
AU - Hong, Jun
AU - Li, Yue
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - This paper presents an inchworm inspired soft robot composed of the soft body, the front foot as well as the back foot. Compared to the traditional inchworm-type robot consisting of rigid components, the driven mode for the soft robot is more simple. The soft robot inspired by the inchworm has higher locomotion efficiency than the other bionic soft robot. The main idea of this paper is to imitate the 'Ω' motion shape of biology inchworm based on a silicone square tube with strain-limiting layers. Besides, each foot of the robot made through 3D printing technology together with metal sheet can produce different friction coefficients to achieve the anchor-motion movement. Then, the robot realizes an inchworm-like locomotion under certain actuation patterns. Experimental results show that the proposed robot has excellent performance.
AB - This paper presents an inchworm inspired soft robot composed of the soft body, the front foot as well as the back foot. Compared to the traditional inchworm-type robot consisting of rigid components, the driven mode for the soft robot is more simple. The soft robot inspired by the inchworm has higher locomotion efficiency than the other bionic soft robot. The main idea of this paper is to imitate the 'Ω' motion shape of biology inchworm based on a silicone square tube with strain-limiting layers. Besides, each foot of the robot made through 3D printing technology together with metal sheet can produce different friction coefficients to achieve the anchor-motion movement. Then, the robot realizes an inchworm-like locomotion under certain actuation patterns. Experimental results show that the proposed robot has excellent performance.
UR - https://www.scopus.com/pages/publications/85027971618
U2 - 10.1109/ICRA.2017.7989477
DO - 10.1109/ICRA.2017.7989477
M3 - 会议稿件
AN - SCOPUS:85027971618
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4154
EP - 4159
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -