A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot

Suzumori, Koichi; Endo, Satoshi; Kanda, Takefumi; Kato, Nobuo; Suzuki, Hirohito

doi:10.1109/robot.2007.364246

Cited by 283 publications

(166 citation statements)

References 13 publications

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“…10 , e) worm-inspired locomotion 88 , f) particle jamming-based actuation 42 , g) rolling powered by a pneumatic battery 28, h) a hybrid hard/soft robot 89 , i) snakeinspired locomotion 8 , j) jumping powered by internal combustion 58 , k) manta-ray inspired locomotion 100 , and l) an autonomous fish 11 . Grasping and manipulation, canonical challenges in robotics, can be greatly simplified with soft robotics.…”

Section: Martinez R V Et Al Robotic Tentacles With Three-dimensiomentioning

confidence: 99%

Design, fabrication and control of soft robots

Rus

Tolley

2015

Nature

4,361

2,656

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Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modeled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates like humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

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Section: Martinez R V Et Al Robotic Tentacles With Three-dimensiomentioning

confidence: 99%

Design, fabrication and control of soft robots

Rus

Tolley

2015

Nature

4,361

2,656

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show abstract

“…Craig et al [18] point out that these types of actuators can be folded to reduce shipping volume specially for space applications. Bending actuators designed with multi-lumen hoses are represented by the work of Suzumori et al [122][123][124][125][126] shown in figure 5(f). Radial reinforcements inhibit radial expansion so that the operating pressure is 1.4 − 4 bar.…”

Section: Flexible Fluidic "Bending" Actuatorsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…Our modeling and analysis work builds on the earlier papers Majidi et al (2012Majidi et al ( , 2013a; Zhou et al (2015) While we do not discuss the precise mechanism by which the intrinsic curvature is changed, there has been an increased interest in the development of mechanisms for changing κ 0 in components of soft robots. The interested reader is referred to Galloway et al (2013); Shepherd et al (2013); Suzumori et al (2007); Takashima et al (2011);Wakimoto et al (2009) for examples of these mechanisms. Also, in order to make the theoretical model more tractable for analysis, we only examine gripping mechanisms that involve point contact with an object.…”

Section: Introductionmentioning

confidence: 99%

Soft hands: An analysis of some gripping mechanisms in soft robot design

Zhou

Majidi

O’Reilly

2015

International Journal of Solids and Structures

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In contrast to their more rigid counterparts, soft robots have the ability to gently grip and maneuver objects with open-loop kinematic control. Guided by several recent designs and implementations of soft robot hands, the present paper analyzes a rod-based model for the fingers in the hand of a soft robot.We show precisely how gripping is achieved and how the performance can be affected by varying the system's parameters. The designs we are interested in feature pneumatic control of the soft robot and we model this actuation as a varying intrinsic curvature profile of the rod. Our work provides a framework for the theoretical analysis of the soft robot and the resulting analysis can also be used to develop some design guidelines.

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A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot

Cited by 283 publications

References 13 publications

Design, fabrication and control of soft robots

Design, fabrication and control of soft robots

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Soft hands: An analysis of some gripping mechanisms in soft robot design

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