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A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publicationIEEE International Conference on Soft Robotics (Robosoft 2019)
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers (IEEE)
Pages840-845
Number of pages6
ISBN (Electronic)9781538692608
DOIs
DateAccepted/In press - 20 Feb 2019
DatePublished (current) - 24 May 2019
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period14/04/1918/04/19

Abstract

In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworm-inspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35% its body weight at a slower speed.

    Structured keywords

  • Tactile Action Perception

Event

2019 IEEE International Conference on Soft Robotics, RoboSoft 2019

Duration14 Apr 201918 Apr 2019
CitySeoul
CountryKorea, Republic of
Degree of recognitionInternational event

Event: Conference

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the accepted author manuscript (AAM). The final published version (version of record) is available online via IEEE at https://doi.org/10.1109/ROBOSOFT.2019.8722789 . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 880 KB, PDF document

    Licence: Other

DOI

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