TY - GEN
T1 - Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator
AU - Cheng, Nadia
AU - Ishigami, Genya
AU - Hawthorne, Stephan
AU - Chen, Hao
AU - Hansen, Malik
AU - Telleria, Maria
AU - Playter, Robert
AU - Iagnemma, Karl
N1 - Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described.
AB - Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described.
UR - http://www.scopus.com/inward/record.url?scp=77955806258&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2010.5509247
DO - 10.1109/ROBOT.2010.5509247
M3 - Conference contribution
AN - SCOPUS:77955806258
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5207
EP - 5212
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -