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A Versatile Soft Crawling Robot with Rapid Locomotion.

Lei Qin1, Xinquan Liang1,2, Hui Huang3

  • 11Department of Mechanical Engineering and National University of Singapore, Singapore, Singapore.

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|March 19, 2019
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Summary
This summary is machine-generated.

This study introduces a novel soft crawling robot utilizing vacuum and electrostatic actuators for fast linear and turning motion. This versatile robot demonstrates impressive capabilities including obstacle navigation and vertical wall climbing.

Keywords:
electroadhesionrapid locomotionsoft crawling robotsvacuum actuationversatile

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robots offer unique advantages in locomotion and manipulation due to their inherent compliance and adaptability.
  • Existing soft crawling robots often face limitations in speed, payload capacity, and environmental adaptability.
  • Novel actuation mechanisms are crucial for enhancing the performance of soft robotic systems.

Purpose of the Study:

  • To design and develop a versatile soft crawling robot with rapid and effective locomotion capabilities.
  • To model and optimize the robot's static and dynamic performance for enhanced speed and control.
  • To demonstrate the robot's ability to perform complex tasks such as obstacle navigation and vertical climbing.

Main Methods:

  • The robot is constructed using two vacuum-actuated spring actuators and two electrostatic actuators.
  • Analytical models were developed to interpret static actuation performance (linear and bending motions).
  • An empirical dynamic model was created to optimize locomotion speed based on actuation signal frequency and duty cycle.

Main Results:

  • The soft robot achieves a rapid turning speed of 15.09°/s, among the fastest for soft crawling robots.
  • Demonstrated capabilities include obstacle navigation in confined spaces, vertical wall climbing at 6.67 mm/s, and carrying a 69x self-weight payload.
  • The robot successfully crossed a 2 cm gap and performed a ball-kicking function.

Conclusions:

  • The developed soft crawling robot exhibits exceptional speed, versatility, and functional capabilities.
  • The combination of vacuum and electrostatic actuation provides a robust platform for advanced soft robotics.
  • This research contributes to the advancement of high-performance soft robots for diverse applications.