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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
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Soft mobile robot inspired by animal-like running motion.
1Center for Intelligent & Interactive Robotics, KIST, Seongbuk-gu, Seoul, 02792, Republic of Korea.
Scientific Reports
|October 13, 2019
Summary
This study introduces a novel soft legged mobile robot capable of navigating narrow spaces. The robot exhibits animal-like running motion and maintains movement under shock, demonstrating its potential for exploration.
Area of Science:
- Robotics
- Materials Science
- Biomechanics
Background:
- There is a growing need for robots capable of navigating complex and confined environments.
- Traditional rigid robots face limitations in traversing narrow pathways and uneven terrains.
- Soft robotics offers a promising alternative due to inherent compliance and adaptability.
Purpose of the Study:
- To develop and evaluate a novel soft legged mobile robot for exploration tasks.
- To investigate the locomotion mechanisms and performance characteristics of the proposed soft robot.
- To demonstrate the robot's ability to navigate challenging environments and withstand external disturbances.
Main Methods:
- Design and fabrication of a soft mobile robot utilizing a bimorph piezoelectric main body and pre-curved piezoelectric legs.
- Experimental testing to quantify locomotion speed and performance metrics.
- Numerical simulations to analyze the physical mechanisms underlying the robot's animal-like running motion.
Main Results:
- The soft mobile robot achieved a locomotion speed of 70% of its body length per second.
- Numerical simulations revealed an animal-like running gait generated by the robot.
- The robot's performance was found to be influenced by leg amplitude differences under varying activation conditions.
- The robot demonstrated resilience, maintaining movement even when subjected to impulsive shocks due to its inherent flexibility.
Conclusions:
- The developed soft legged mobile robot shows significant potential for exploration in confined and complex terrains.
- The unique locomotion strategy and inherent flexibility contribute to its robust performance.
- Further research into optimizing leg activation and control could enhance its capabilities for diverse applications.
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