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A Compliant Telescopic Limb with Anisotropic Stiffness

Research output: Contribution to journalArticle

Original languageEnglish
Article number80
Number of pages8
JournalFrontiers in Robotics and AI
Volume3
DOIs
StatePublished - 1 Feb 2017

Abstract

Soft limbs with anisotropic stiffness are common in nature and enable animals to solve a variety of tasks, including locomotion and manipulation. This mixture of hardness and softness enables animals to efficiently control the unpredictable contact forces that occur while performing such asks. A challenge for soft robotics is to create artificial limbs that mimic natural mixtures of hardness and softness for use as a building block for soft, adaptable robots. This article presents the design of a novel pneumatic limb module with adjustable length and anisotropic stiffness. The artificial limb is designed with a rigid telescopic endoskeleton inside a rubber bellow, which we show is able to resist buckling, while remaining externally soft. Finally, we present the design of a hexapod walker based on the limb units.

Research areas

  • Soft-Robotics, Variable-length, Pneumatic, Robosoft, Anisotropic-Stiffness

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  • Full-text PDF (final published version)

    Rights statement: This is the final published version of the article (version of record). It first appeared online via Frontiers at http://journal.frontiersin.org/article/10.3389/frobt.2016.00080/full. Please refer to any applicable terms of use of the publisher.

    Final published version, 2 MB, PDF-document

    License: CC BY

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