BIO-INSPIRED SOFT ROBOTS BASED ON VARIOUS SMART ACTUATORS

Abstract

Soft robot is a growing research field that may initiate evolutionary change in robotic research. Recently there has been a surge in popularity of soft robots due to their inherent compliance, strong adaptability, and capability to work effectively in unstructured environments by using deformable structures with artificial muscles which were made of soft or flexible materials. Nowadays, many soft robot designs are inspired by natural creatures such as caterpillars, fish and octopus which have highly flexible and deformable bodies. Structural design, material selection and actuation method are three essential design considerations in soft robot fabrication. Imitation ability and functionality are the two key design objectives for bio-inspired soft robots. This thesis will introduce two bio-inspired soft robots based on two actuation methods dielectric elastomer actuator (DEA) and liquid crystal elastomer (LCE) actuator. The DEA-based soft root is inspired by natural jellyfish and can mimic the transparent body of jellyfish and perform a jellyfish-like swimming in water. The inspiration for the second soft robot operated by LCE actuators comes from inchworms. What is more, soft electroadhesive (EA) pads are developed and used to provide strong adhesion between soft robot feet and crawling substrate. The use of EA pads and LCE actuators empowers this soft robot to simulate the motion of inchworms and walk on a wooden surface. We believe that the studies presented in this thesis are helpful in enhancing the development of bio-inspired soft robots.