Loco-sheet: Morphing Inchworm Robot Across Rough-terrain

Chang, Mun Hyeok; Chae, Suchan; Yoo, Hye Ju; Kim, Sanghun; Kim, Woongbae; Cho, Kyu-Jin

doi:10.1109/robosoft.2019.8722724

Cited by 10 publications

(4 citation statements)

References 19 publications

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“…The robot was tested using three scenarios. Firstly, to crawl autonomously without any human intervention on horizontally placed painted industrial metal pipes of three different diameters (12,16, and 22 cm) and a flat painted metal plate. Secondly, a non-painted metal pipe and a metal plate were used to observe differences in the robot's autonomous crawling.…”

Section: Experiments and Resultsmentioning

confidence: 99%

“…Outer-curved surface crawlers relied on gripping mechanisms to demonstrate crawling behavior while also indicating their grippers' fixed grasping range [11], [25], [26]. Moreover, some of these robots were either large and bulky [20], [36], or developed as prototypes to demonstrate the design concepts and hence required further development for real-world deployment [7], [9], [11], [14], [16], [17], [23], [25], [27], [29], [30], [35]. Recent works based on advancements in soft robotics may help to achieve a more effective design solution [14].…”

Section: Related Workmentioning

confidence: 99%

“…There are multiple benefits to using an inchworm as an inspirational model for a robot. Foremost, an inchworminspired robot can perform robust locomotion using two legs [8], [9], [16]- [18]. Relying on minimum, yet sufficient, contact-to-surface by the legs, a robot may require minimal hardware for its development in comparison to other robots [1] with more than two legs.…”

Section: Introductionmentioning

confidence: 99%

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iCrawl: An Inchworm-Inspired Crawling Robot

et al. 2020

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for their participation in the valuable discussions at various stages of the work. This work has been supported by a startup grant on Bio-inspired Robotics from Vidyasirimedhi Institute of Science & Technology (VISTEC) (P.M., project PI). We also thank FIGO company for participating in technical discussions, and PTT Exploration and Production Public Co. Ltd., for taking part in general discussions and providing the industrial pipes for robot testing.

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Section: Experiments and Resultsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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iCrawl: An Inchworm-Inspired Crawling Robot

et al. 2020

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“…Shi et al [ 11 ] developed a crawling robot driven by shape memory alloy (SMA) wire to imitate the inchworm’s abdominal contraction; a ratchet structure was used to mimic the inchworm’s feet. Chang et al [ 12 ] proposed a flexible sheet-based inchworm robot with two different locomotion modes. It can crawl upstairs in an ‘S’ shape mode and pass through low gaps in an omega-shaped locomotion mode.…”

Section: Introductionmentioning

confidence: 99%

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Yan

Cai

et al. 2022

Micromachines

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Over the last decade, many bio-inspired crawling robots have been proposed by adopting the principle of two-anchor crawling or anisotropic friction-based vibrational crawling. However, these robots are complicated in structure and vulnerable to contamination, which seriously limits their practical application. Therefore, a novel vibro-impact crawling robot driven by a dielectric elastomer actuator (DEA) is proposed in this paper, which attempts to address the limitations of the existing crawling robots. The novelty of the proposed vibro-impact robot lies in the elimination of anchoring mechanisms or tilted bristles in conventional crawling robots, hence reducing the complexity of manufacturing and improving adaptability. A comprehensive experimental approach was adopted to characterize the performance of the robot. First, the dynamic response of the DEA-impact constraint system was characterized in experiments. Second, the performance of the robot was extensively studied and the fundamental mechanisms of the vibro-impact crawling locomotion were analyzed. In addition, effects of several key parameters on the robot's velocity were investigated. It is demonstrated that our robot can realize bidirectional motion (both forward and backward) by simple tuning of the key control parameters. The robot demonstrates a maximum forward velocity of 21.4 mm/s (equivalent to 0.71 body-length/s), a backward velocity of 16.9 mm/s, and a load carrying capacity of 9.5 g (equivalent to its own weight). The outcomes of this paper can offer guidelines for high-performance crawling robot designs, and have potential applications in industrial pipeline inspections, capsule endoscopes, and disaster rescues.

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Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot

Liu

Liang

et al. 2023

Soft Robotics

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Loco-sheet: Morphing Inchworm Robot Across Rough-terrain

Cited by 10 publications

References 19 publications

iCrawl: An Inchworm-Inspired Crawling Robot

iCrawl: An Inchworm-Inspired Crawling Robot

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot

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