Soft Rod-Climbing Robot Inspired by Winding Locomotion of Snake

Liao, Bing; Zang, Hongbin; Chen, Mingyang; Wang, Yunjie; Lang, Xin; Zhu, Nana; Yang, Zheng; Yi, Yan

doi:10.1089/soro.2019.0070

Cited by 126 publications

(55 citation statements)

References 42 publications

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“…(4) ETL, flexible bellows, and SLL are fixed using elastic O-rings, and a segment is composed of four folding units. The fabrication procedures of the telescopic actuator is relatively easy, which are wrapped annularly by three ETLs [48].…”

Section: Fabrication Methodsmentioning

confidence: 99%

“…The deformation recovery of actuators is closely dependent on the restoring force of the ETL. Based on the theoretical model of Liao et al [48], in the steady state when the telescopic actuator is deformed, the expansion force F 1 (Eq.1) obtained by the air pressure is equal to the restoring force F 2 (Eq. 2) generated by the ETL.…”

Section: Theoretical Modelmentioning

confidence: 99%

“…[16][17][18][19][20][21] Moreover, motor-rope, 22 pneumatic, 16,18,19,21,23,24 hydraulic, 25 shape memory alloy, 26 dielectric elastomer, [27][28][29][30][31][32][33][34][35] chemical reaction, 20 light, 36,37 or magnetic field 38 provide driving force for the movement of soft robots. Their work modes mainly are crawling, [39][40][41][42][43][44][45][46] climbing, 16,23,24,27,47,48 and so on. Different combinations of driven methods and movement modes benefit the application of soft robots.…”

Section: Introductionmentioning

confidence: 99%

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A Quadruped Soft Robot for Climbing Parallel Rods

et al. 2020

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SUMMARY Soft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer (ETL), and strain-limiting layer (SLL). The telescopic actuator provides the energy for the robot to climb forward. The SR-CR is activated by a control strategy that alternates the body deformation and feet pneumatic clenched for stable climbing. The robot can climb rods at 90°, with the maximum speed of up to 2.33 mm/s (0.018 body length/s). At 0.83 HZ, the maximum moving speed of the robot in climbing horizontally parallel rods can reach 18.43 mm/s. In addition, the SR-CR can also achieve multiple impressive functions, including turning around a corner at a rate of 7 mm/s (0.054 body length/s), carrying a payload of 3.7 times its self-weight on horizontal rods at a speed of 9 mm/s (0.069 body length/s).

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Section: Fabrication Methodsmentioning

confidence: 99%

Section: Theoretical Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Quadruped Soft Robot for Climbing Parallel Rods

et al. 2020

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Section: Locomotion In Crowded and Constrained Environmentsmentioning

confidence: 99%

“…This inspired a winding soft robot (Figure 4f). [ 117 ] To simplify, only a head and a tail pneumatic actuator were used for the winding motion and an elastomeric pneumatic telescopic actuator in between. This lightweight robot, weighing 20 g, was capable of moving in speeds of 30 mm s −1 and carry a 500 g load on a vertical bar.…”

Section: Locomotion In Crowded and Constrained Environmentsmentioning

confidence: 99%

How Can Interfacial Phenomena in Nature Inspire Smaller Robots

Das

Pinchasik

2020

Adv Materials Inter

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In nature, surfaces are evolutionarily designed to allow adaptation of species to their environments. Insects make extensive use of interfacial phenomena because of their small size and thus, large surface‐area‐to‐volume ratio. This enables them to walk on different terrains, dive, swim, and adhere to surfaces in air and underwater. Moreover, they toggle between different interfaces, move in confined spaces, and overcome a wide range of obstacles. This progress report summarizes emerging directions in the field of bioinspired robotics with an emphasis on micro and nanoscale dynamic interactions. It is envisioned that interfacial phenomena will allow to miniaturize robots and increase the complexity of their operation. The key to success is the combination of functional surfaces, structural design and multiple modes of locomotion. For this to be realized, however, new paradigms are needed in terms of materials, fabrication, energy consumption, and actuation. This report discusses the development of small robots inspired by water striders, the bell spider, the leaf and ladybird beetles, backswimmers and cockroaches, among many others. It also discusses small soft robots inspired by roundworms, larvae, and parasites. From a broader perspective, fabrication of many small robots will enable to study collective effects and self‐assembly, group behavior and swarming.

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Printing of Tactile Sensors Upon the Surface of Pneumatic Soft Gripper by Direct Writing and Electrospraying to Enable Intelligent Grasping

Wang

Zeng

et al. 2022

Adv Eng Mater

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Soft grippers with sensory‐integration mimicking humanoid hands, capable of grabbing various kinds of objects in a safe and easy manner, have numerous potential applications in advanced areas. However, precise sensing capabilities of the soft grippers for external stimuli are still nascent and fabrication of integrating sensory receptors remains a challenge. Herein, multiple tactile (pressure, temperature, and humidity) sensors are fabricated on the surface of pneumatic soft fingers by printing technologies including direct writing and electrospraying to simultaneously detect external stimuli while grasping. Composites composed of graphene nano‐platelets (GNPs)/multi‐walled carbon nanotube (MWCNT)/polyethylene oxide (PEO), reduced graphene oxide (rGO), and graphene oxide (GO) are selected as sensitive materials for pressure, temperature, and humidity sensor, respectively. The fingers are able to bend with an angle of 75° and output force of 0.133 N under air pressure of 12 kPa. The printed tactile sensors exhibit good sensing performance. The application of grasping a lemon, a cooked egg, and a plum demonstrates that the pneumatic soft gripper owns the capability of accurately detecting tactile changes during grasping different objects. Thus, such integration methods by direct writing and electrospraying will open a facile technical platform for constructing the soft grippers with tactile sensors.

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Soft Rod-Climbing Robot Inspired by Winding Locomotion of Snake

Cited by 126 publications

References 42 publications

A Quadruped Soft Robot for Climbing Parallel Rods

A Quadruped Soft Robot for Climbing Parallel Rods

How Can Interfacial Phenomena in Nature Inspire Smaller Robots

Printing of Tactile Sensors Upon the Surface of Pneumatic Soft Gripper by Direct Writing and Electrospraying to Enable Intelligent Grasping

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