Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Faudzi, Ahmad Athif Mohd; Endo, Gen; Kurumaya, Shunichi; Suzumori, Koichi

doi:10.1109/lra.2017.2734244

Cited by 32 publications

(10 citation statements)

References 19 publications

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Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

“…Other recent implementations of this approach have explored introducing motility into robots. McKibben actuators were integrated by Faudzi et al into a long legged hexapod robot based on a “Giacometti” style gait that locomotes well on uneven surfaces (Figure 13d) 312. More traditional McKibben actuators have been utilized elsewhere.…”

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

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Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Materials as Machines

2020

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“…In this study, thin McKibben muscle was used as illustrated in Figure 5. It is very thin, lightweight, and flexible muscle [20,21] that enables the bending motion. This actuator consists of an inner tube made from silicone rubber and covered by an outer sleeve, which made of knitted fibre of 0.12 mm monofilaments as presented in Figure 5(b).…”

Section: Thin Mckibben Muscle Actuatormentioning

confidence: 99%

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

Mohamed

Hanif

Faudzi

2020

IJAME

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In recent years, soft actuator has been extensively developed in robotic research. This type of robot is expected to work with human with its flexible and adaptable advantage. The actuator material is soft, light, safe and high compliant. Due to these factors, soft McKibben is of interest as an actuator for this research for bending application. This paper introduces a variant bending analysis of a soft body manipulated using soft McKibben actuators. A series of 1.80 mm width with the length of 120.0 mm McKibben actuator is used to control the bending motion. The design consists of four McKibben actuators arranged in parallel and compacted in a soft body. The bending behavior was evaluated using an experimental test with a variety of pneumatic input pressure and length section on the actuator. The experiment showed that the bending angle was influenced by the segmentation length of the actuator, where the segmentation length and increased input pressure also allow more bending on the actuator. The actuator with lot of section gave more bending response compared to the actuator with lesser section. With the performance exhibited from this study, McKibben actuator can be applied in a wider use for continuum manipulator.

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“…The studied was further continued by many researchers to improve the mechanism and performance of soft actuator. Latest design of the soft McKibben actuator used thin structured [16][17][18] and the innovation in its fabrication technique improved time taken to complete an actuator fabrication in less than hour. This technique introduced a method to use ready-made silicone tube and knitting fiber, then sealed them with caps at both ends of the actuator [19].…”

Section: Introductionmentioning

confidence: 99%

Two-chambers soft actuator bending and rotational properties for underwater application

Razif

Faudzi

Nordin

et al. 2019

IJEECS

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<span>This paper presents a study on bending and rotational properties of two-chambers soft actuator for underwater application. Previous study demonstrated the actuator characteristics required to optimize the bending performance and its potential to perform underwater because of the actuator material. However, there is less study of the actuator performance underwater as well as how the actuator tips rotating during actuator bending motion. In this paper, three tests have been proposed which are comparisons of bending angle simulation and experiment in air environment, bending angle performance in air and underwater environment as well as rotational angle of actuator tip in air environment. The bending angle of soft actuator is measured based on displacement in horizontal and vertical axis and for rotational angle, gyro sensor has been used. Based on the analysis, it is proven that the fabricated soft actuator performs almost similar trend to the simulation. It is also demonstrated that the actuator performs almost double bending motion underwater environment compared to in air environment at the same pressure, and the actuator is able to rotate 90º in air environment with the supplied pressure 52 kPa.</span>

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Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Cited by 32 publications

References 19 publications

Materials as Machines

Materials as Machines

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

Two-chambers soft actuator bending and rotational properties for underwater application

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