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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Arthrobots.

Alex Nemiroski1, Yanina Y Shevchenko1, Adam A Stokes1

  • 11 Department of Chemistry and Chemical Biology, Harvard University , Cambridge, Massachusetts.

Soft Robotics
|November 29, 2017
PubMed
Summary
This summary is machine-generated.

Researchers developed novel "arthrobots," robots inspired by arthropod musculoskeletal systems. These compliant, lightweight, and inexpensive robots demonstrate versatile locomotion, including crawling and walking, and safe human interaction.

Keywords:
arthropodbioinspiredbiomimeticexoskeletonpneumaticssoft robots

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Area of Science:

  • Biomimetics and Robotics
  • Soft Robotics
  • Mechanical Engineering

Background:

  • Traditional robots often lack mechanical compliance and are complex/expensive.
  • Arthropod musculoskeletal systems offer a model for lightweight, compliant, and scalable robotic designs.
  • Hydrostatic joints in spiders provide inherent compliance and actuation.

Purpose of the Study:

  • To introduce a novel class of robots, termed "arthrobots," inspired by arthropod biomechanics.
  • To demonstrate the fabrication, design principles, and versatile locomotion capabilities of arthrobots.
  • To highlight the potential for safe human-robot interaction due to inherent compliance.

Main Methods:

  • Development of an exoskeleton using thin organic polymeric tubes for lightweight support.
  • Implementation of pneumatic joints, mimicking spider hydrostatic joints, for actuation and compliance.
  • Utilizing inflatable elastomeric tubes for active limb extension and elastic tendons for passive retraction.

Main Results:

  • Successful fabrication of arthrobots with varying numbers of limbs (2, 4, 6, 8).
  • Demonstrated diverse locomotion capabilities: crawling, walking (including insect-like triangular gait), and water-based propulsion (floating/rowing).
  • Arthrobots exhibit inherent mechanical compliance, enabling safe operation around humans.

Conclusions:

  • Arthrobots represent a scalable, inexpensive, and easily fabricated robotic platform.
  • The biomimetic design provides significant mechanical compliance and versatile locomotion.
  • This approach offers a promising avenue for developing safe and adaptable robots for various applications.