TY - GEN
T1 - Multi-directional crawling robot with soft actuators and electroadhesive grippers
AU - Digumarti, Krishna Manaswi
AU - Cao, Chongjing
AU - Guo, Jianglong
AU - Conn, Andrew T.
AU - Rossiter, Jonathan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/5
Y1 - 2018/7/5
N2 - This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.
AB - This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.
UR - https://www.scopus.com/pages/publications/85050697953
U2 - 10.1109/ROBOSOFT.2018.8404936
DO - 10.1109/ROBOSOFT.2018.8404936
M3 - 会议稿件
AN - SCOPUS:85050697953
T3 - 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
SP - 303
EP - 308
BT - 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st IEEE International Conference on Soft Robotics, RoboSoft 2018
Y2 - 24 April 2018 through 28 April 2018
ER -