Soft Robot for Inspection Tasks Inspired on Annelids to Obtain Peristaltic Locomotion

Abstract

Soft robotics is a rapidly advancing field that leverages the mechanical properties of flexible materials for applications necessitating safe interaction and exceptional adaptability within the environment. This paper focuses on developing a pneumatic soft robot bio-inspired in annelids or segmented worms. Segmentation, also called metamerism, increases the efficiency in body movement by allowing the effect of muscle contraction to generate peristaltic locomotion. The robot was built using elastomers by the casting technique. A sequence of locomotion based on two stages, relaxation and contraction, was proposed; the contraction stage is actuated by a vacuum pump. The locomotion performances are compared using different elastomers, such as Ecoflex 00-30, Dragon Skin 20, Mold Star 15 Slow, and Mold Star 30. Experimental tests were carried out inside a plexiglass pipe, 1 inch in diameter; a wide range of frequencies was tested for relaxation and contraction stages to evaluate the effect on the speed of the robot.

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

“…These advantages have led to their use in grippers [14], inspection tasks [15], locomotion robots [16,17], wearable devices for rehabilitation [18], or imitating human body parts [19].…”

2-DOF Woven Tube Plane Surface Soft Actuator Using Extensional Pneumatic Artificial Muscle

“…Takeyama et al [16] and Xin et al [17] fabricated soft robots that move by sequentially depressurizing air chambers to generate longitudinal waves, for the purpose of moving walls and inspecting inside the gastrointestinal tract, respectively. Soft actuators inspired by various animals, such as iguanas [18], annelids [19], and Drosophila larvae [20], also have the capability to move. Soft actuators designed for movement are suitable for carrying human bodies or fragile items [21] and moving in complex environments [22,23].…”