A Hybrid Territorial Aquatic Bionic Soft Robot with Controllable Transition Capability

Zhang, Fu-Kang; Jing, Zeying; Yu, Fujie; Chen, Yuan

doi:10.1007/s42235-022-00294-x

Cited by 8 publications

(3 citation statements)

References 35 publications

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“…Based on more advanced designs, the dielectric elastomer actuator-based soft robot can not only move on land but also swim in the sea or fly in the sky. [95][96][97][98] All of these soft robots show great application potential in exploring places where a human finds it difficult to reach. Li et al [99] developed a manta ray-inspired dielectric elastomer actuator-based soft electronic fish with encapsulated hydrogel as one conductive electrode and surrounding tap water as another electrode (Figure 4b).…”

Section: Dielectric Elastomer-based Soft Actuatorsmentioning

confidence: 99%

Recent Advances in Electrically Driven Soft Actuators across Dimensional Scales from 2D to 3D

et al. 2023

Advanced Intelligent Systems

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Soft actuators have been an important research focus in robotics due to their advantages in nondestructive contact and excellent motion adaptability, which enable flexible manipulation, extreme environments exploration, and in vivo surgical treatment. Various soft robots actuated electrically, magnetically, optically, and fluidically are built toward different application scenarios. Among them, electrical actuation method is an advanced choice to actuate and control soft actuators that are expected to be compatible and integrated with existing industrial robotic systems and wearable intelligent devices. Current robotic systems have higher requirements on the actuators’ function, which can be explored through material and structural designs. Based on a variety of deformable materials, the structural design enables the soft actuators to span from low dimension to high dimension with further improvement in function. Therefore, in this review, 2D and 3D electrical‐based soft actuators from the perspective of dimension design are introduced, which involve functional materials, structure design, and fabrication technology. Some novel 3D fabrication methods, such as the 3D compressive buckling process, are summarized to build 3D soft robots. This review aims at offering important guidelines for the development of soft actuators and the construction of integrated robotic systems in the future.

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Section: Dielectric Elastomer-based Soft Actuatorsmentioning

confidence: 99%

Recent Advances in Electrically Driven Soft Actuators across Dimensional Scales from 2D to 3D

et al. 2023

Advanced Intelligent Systems

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show abstract

“…[1,2] In the rising field of soft robotics, making soft robots functional in various environments has been a consistent pursuit. [3][4][5][6][7] Compared with the elegant design of natural creatures, man-made soft robots with both on-land and underwater functionalities remain a grand challenge. A key to constructing a high-performance soft machine is an ideal actuator.…”

Section: Introductionmentioning

confidence: 99%

A Highly Robust Amphibious Soft Robot with Imperceptibility Based on a Water‐Stable and Self‐Healing Ionic Conductor

et al. 2023

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Dielectric elastomer actuators (DEAs) are widely exploited for actuating soft machines and granting soft robots with capability to operate in both underwater and on‐land environments is important to make them adapt to more complex situations. Here, a DEA‐driven, highly robust, amphibious imperceptible soft robot (AISR) based on an all‐environment stable ionic conductive material is presented. A soft, self‐healable, all‐environment stable ionic conductor is developed by introducing cooperative ion–dipole interactions to provide underwater stability as well as efficient suppression of ion penetration. By tuning molecular structures of the material, a 50‐time device lifetime increase compared with unmodified [EMI][TFSI]‐based devices and excellent underwater actuating performance is achieved. With the synthesized ionic electrode, the DEA‐driven soft robot exhibits amphibious functionality to traverse hydro‐terrestrial regions. When encountering damage, the robot shows good resilience and can self‐heal underwater and it also exhibits imperceptibility to light, sound, and heat.

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“…Magnetically driven robots have relatively small workspaces because they require a strong magnetic field where their magnitude is exponentially decreased with respect to distance. Researchers also use shape memory alloys [30,31], electrostatic force [32,33], or dielectric materials [17,34,35], using their phase change by heat or electricity. They have the advantage of being lightweight and low profile, but typically have longer response times for cooling.…”

Section: Introductionmentioning

confidence: 99%

Tendon-Driven Crawling Robot with Programmable Anisotropic Friction by Adjusting Out-of-Plane Curvature

et al. 2023

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Origami crawling robots, inspired by the principles of origami folding, have emerged as a promising approach for developing lightweight and flexible robots capable of navigating tight spaces. These robots utilize anisotropic friction, where the frictional forces between surfaces vary depending on the direction of motion, enabling controlled movement by changing the robot’s body orientation. While various actuation methods have been explored, such as pneumatic and magnetic systems, they suffer from limitations such as bulkiness or restricted workspace. In this paper, we propose a tendon-driven crawling robot that achieves anisotropic friction by controlling its out-of-plane curvature. By manipulating the robot’s shape and out-of-plane curvature, we can modulate the friction forces and enable efficient crawling motion. To maximize anisotropic friction, we design an asymmetric contact film composed of elastomer and polyester. We analyze the relationship between out-of-plane curvature and frictional force through experiments on flat and sloped surfaces, considering different leg angles and slope angles of the contact film. The results demonstrate the gait loss ratio of 1.96% for the optimized design, highlighting the robot’s ability to crawl efficiently with quick response times and a low-profile system. This research contributes to the advancement of origami-based crawling robots and their potential applications in confined and unstructured environments.

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A Hybrid Territorial Aquatic Bionic Soft Robot with Controllable Transition Capability

Cited by 8 publications

References 35 publications

Recent Advances in Electrically Driven Soft Actuators across Dimensional Scales from 2D to 3D

Recent Advances in Electrically Driven Soft Actuators across Dimensional Scales from 2D to 3D

A Highly Robust Amphibious Soft Robot with Imperceptibility Based on a Water‐Stable and Self‐Healing Ionic Conductor

Tendon-Driven Crawling Robot with Programmable Anisotropic Friction by Adjusting Out-of-Plane Curvature

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