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Energy efficiency of mobile soft robots.

Langquan Shui1, Liangliang Zhu, Zhe Yang

  • 1International Center for Applied Mechanics, State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace, Xi'an Jiaotong University, Xi'an 710049, P. R. China. yilunliu@mail.xjtu.edu.cn.

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Summary

Mobile soft robots have very low energy efficiency, often below 0.1%. Improving locomotion energy efficiency through factors like actuation modes and material properties is crucial for future soft robot development.

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Mobile soft robots' performance is typically assessed by locomotion efficiency.
  • Energy efficiency is a more fundamental metric for evaluating soft robot systems.

Purpose of the Study:

  • Establish a general framework to evaluate the energy efficiency of mobile soft robots.
  • Present insights for enhancing the efficiency of soft robotic systems.

Main Methods:

  • Defined energy efficiency of locomotion as the ratio of desired locomotion kinetic energy to input mechanical energy.
  • Identified key factors influencing locomotion energy efficiency: modes, materials, size, and actuation.
  • Analyzed and compared locomotion energy efficiency across various locomotion modes.

Main Results:

  • Overall energy efficiency of most mobile soft robots is remarkably low (<0.1%).
  • Locomotion energy efficiency is ranked: jumping > fish-like swimming > snake-like slithering > rolling > rising/turning over > inchworm-like inching > quadruped gait > earthworm-like squirming.
  • Lower stiffness, higher density, larger size, and resonant pulse actuation enhance energy efficiency.

Conclusions:

  • Significant potential exists for improving soft robot energy efficiency.
  • Optimizing locomotion energy efficiency is vital for practical applications of soft robots.