Please use this identifier to cite or link to this item: https://doi.org/https://doi.org/10.1089/soro.2018.0124
Title: A Versatile Soft Crawling Robot with Rapid Locomotion
Authors: QIN LEI 
LIANG XINQUAN 
Hui Huang
Chui Chee Kong 
ZHU JIAN 
Keywords: soft crawling robots, vacuum actuation, electroadhesion, rapid locomotion, versatile
Issue Date: 2-Aug-2019
Publisher: Soft Robotics
Citation: QIN LEI, LIANG XINQUAN, Hui Huang, Chui Chee Kong, ZHU JIAN (2019-08-02). A Versatile Soft Crawling Robot with Rapid Locomotion 64 (4) : 455-467. ScholarBank@NUS Repository. https://doi.org/https://doi.org/10.1089/soro.2018.0124
Abstract: This article presents a versatile soft crawling robot capable of rapid and effective locomotion. The robot mainly consists of two vacuum-actuated spring actuators and two electrostatic actuators. By programming the actuation sequences of different actuators, the robot is able to achieve two basic modes of locomotion: linear motion and turning. Subsequently, we have developed analytical models to interpret the static actuation performance of the robot body, including linear and bending motions. Moreover, an empirical dynamic model is also developed to optimize the locomotion speed in terms of frequency and duty cycle of the actuation signal. Furthermore, with the help of the strong electroadhesion force and fast response of the deformable body, the soft robot achieves a turning speed of 15.09°/s, which is one of the fastest among existing soft crawling robots to the best of our knowledge. In addition to the rapid and effective locomotion, the soft crawling robot can also achieve multiple impressive functions, including obstacle navigation in confined spaces, climbing a vertical wall with a speed of 6.67 mm/s (0.049 body length/s), carrying a payload of 69 times its self-weight on a horizontal surface, crossing over a 2 cm (0.15 body length) gap, and kicking a ball.
URI: https://scholarbank.nus.edu.sg/handle/10635/169735
DOI: https://doi.org/10.1089/soro.2018.0124
Appears in Collections:Staff Publications
Elements

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
A Versatile Soft Crawling Robot with Rapid Locomotion-preprint.pdf1.57 MBAdobe PDF

OPEN

Post-printView/Download

Page view(s)

40
checked on Sep 24, 2020

Download(s)

1
checked on Sep 24, 2020

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.