Mechanical design and analysis of a crawling locomotion enabled by a laminated beam

Yang, Zhe; Zhu, Liangliang; Li, Botong; Sun, Shuocheng; Chen, Youlong; Yan, Yuan; Liu, Yilun; Chen, Xi

doi:10.1016/j.eml.2016.03.014

Cited by 22 publications

(17 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Similarly, turning over rightward can be realized ( Fig. 4d-e studies similar to that in our previous work [30], which is left for future studies.…”

Section: Turning Oversupporting

confidence: 82%

“…1b), the differential friction force generated at the two ends can lead to a net crawling locomotion ( Fig. 1c) [30]. Note that asymmetric friction force can be introduced in many ways, and here we use nonuniform friction coefficient as an illustration.…”

Section: Shown Inmentioning

confidence: 99%

“…Besides, the present mechanism relies on asymmetrical frictional forces, which requires some kind of asymmetry in material, geometry, or surface properties. The simple model presented in our earlier work [30] is also incapable of moving back, turning or climb over an obstacle, and modifications to the model are required for the crawling robot to achieve additional tasks, elucidated in Section 3.1.…”

Section: Shown Inmentioning

confidence: 99%

“…New modes proposed in this subsection are based on the worm-like crawling model (Section of that widely used in soft robots, yet their exact values are not essential for the locomotion mechanism in this subsection. More details can be found in our previous work [30].…”

Section: Locomotion Architectures Based On Linear Actuationmentioning

confidence: 99%

“…In this work, based on two simple representative locomotion modes (i.e., worm-like crawling [30] and snake-like slithering [31] of a beam model), we propose a broad set of new designs for soft robotic locomotion through simple beam models, and demonstrate them through finite element simulations. Over 20 locomotion modes are reported herein, achieving various locomotion functions, including crawling, creeping, squirming, slithering, swimming, running, jumping, turning, turning over, helix rolling, wheeling, etc.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Architectures of soft robotic locomotion enabled by simple mechanical principles

et al. 2017

Self Cite

View full text Add to dashboard Cite

In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

show abstract

“…Similarly, turning over rightward can be realized ( Fig. 4d-e studies similar to that in our previous work [30], which is left for future studies.…”

Section: Turning Oversupporting

confidence: 82%

Section: Shown Inmentioning

confidence: 99%

Section: Shown Inmentioning

confidence: 99%

Section: Locomotion Architectures Based On Linear Actuationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Architectures of soft robotic locomotion enabled by simple mechanical principles

et al. 2017

Self Cite

View full text Add to dashboard Cite

show abstract

Battery‐Less Soft Millirobot That Can Move, Sense, and Communicate Remotely by Coupling the Magnetic and Piezoelectric Effects

Hong

Yang

et al. 2020

Advanced Science

View full text Add to dashboard Cite

The soft millirobot is a promising candidate for emerging applications in various in‐vivo/vitro biomedical settings. Despite recent success in its design and actuation, the absence of sensing ability makes it still far from being a reality. Here, a radio frequency identification (RFID) based battery‐less soft millirobot that can move, sense, and communicate remotely by coupling the magnetic and piezoelectric effects is reported. This design integrates the robot actuation and power generation units within a thin multilayer film (<0.5 mm), i.e., a lower magnetic composite limb decorated with multiple feet imparts locomotion and a flexible piezoceramic composite film recovers energy simultaneously. Under a trigger of external magnetic guidance, the millirobot can achieve remote locomotion, environment monitoring, and wireless communication with no requirement of any on‐board battery or external wired power supply. Furthermore, this robot demonstrates the sensing capability in measuring environment temperature and contact interface by two different sensing models, i.e., carried‐on and build‐in sensing mode, respectively. This research represents a remarkable advance in the emerging area of untethered soft robotics, benefiting a broad spectrum of promising applications, such as in‐body monitoring, diagnosis, and drug delivery.

show abstract

Monolithically Assembled 3D Soft Transformable Robot

Hwang

Shin

Han

et al. 2022

Advanced Intelligent Systems

View full text Add to dashboard Cite

There have been extensive studies on soft robots made of various soft polymeric materials to complement conventional rigid robots. [1][2][3][4][5][6][7] Among polymeric materials, liquid crystalline networks (LCNs) have mainly been investigated for soft robotic applications. [8][9][10][11][12][13] Such materials have the advantage of mimicking biological systems on a small scale, being stimuli responsive, and can be operated according to the orientation state of the liquid crystalline moieties inside. [14][15][16][17][18][19][20] When the ordered orientation of the liquid crystalline moieties in the LCNs is distorted to an isotropic state by an external stimulus, actuation occurs because the prevailing form is deformed. [21][22][23] Upon removing the external stimulus, the LCNs fully recover their original orientation state inside and thus the external forms owing to the stably cross-linked network structure. [3,9,10,22] These systems can be actuated using various external stimuli such as light, [14,[24][25][26] heat, [27] electricity, [28,29] and magnetism. [30,31] Among the various actuation methods, light-driven actuation has the advantage of enabling the selective and independent movement of LCNs by an appropriate wavelength of irradiating light and precise remote control over their

show abstract

Mechanical design and analysis of a crawling locomotion enabled by a laminated beam

Cited by 22 publications

References 27 publications

Architectures of soft robotic locomotion enabled by simple mechanical principles

Architectures of soft robotic locomotion enabled by simple mechanical principles

Battery‐Less Soft Millirobot That Can Move, Sense, and Communicate Remotely by Coupling the Magnetic and Piezoelectric Effects

Monolithically Assembled 3D Soft Transformable Robot

Contact Info

Product

Resources

About