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FifoBots: Foldable Soft Robots for Flipping Locomotion.

Jiangbei Wang1, Yanqiong Fei1, Zhaoyu Liu1

  • 1Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China.

Soft Robotics
|April 25, 2019
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Summary
This summary is machine-generated.

Introducing FifoBots, novel soft robots designed for unique flipping locomotion. These robots offer simple actuation and avoid complex balance control, enabling movement across challenging terrains.

Keywords:
flipping locomotionfolding deformationpneumatic artificial musclessoft actuatorssoft robotics

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Area of Science:

  • Robotics
  • Soft Robotics
  • Locomotion Systems

Background:

  • Current soft robots primarily utilize crawling, rolling, or jumping for locomotion.
  • Complex balance control is often required for soft robot movement.
  • Novel locomotion methods are needed for navigating challenging environments.

Purpose of the Study:

  • To design and analyze a new type of soft robot, termed FifoBots, capable of flipping locomotion.
  • To investigate the principles and mechanics behind the proposed flipping motion.
  • To develop and test prototypes of FifoBots for various movement capabilities.

Main Methods:

  • Design of two flipping locomotion schemes with linear and quadrilateral morphologies for straight and biaxial movements.
  • Analysis of movement performance across different stages of locomotion for parameter optimization.
  • Construction of prototypes using bidirectional Curl pneumatic artificial muscles as flexible hinges and 3D-printed rigid limbs.

Main Results:

  • Demonstrated successful forward and backward flipping locomotion, mimicking self-folding paper.
  • Prototypes exhibited controlled straight and biaxial movements.
  • Locomotion experiments validated the feasibility and adaptability of FifoBots.

Conclusions:

  • FifoBots present a novel, simple actuation method for soft robot locomotion, eliminating the need for complex balance control.
  • The proposed designs and analysis provide a foundation for parameter optimization in soft robot locomotion.
  • FifoBots show significant potential for applications in space exploration and navigating complex, unstructured terrains.