Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Soft robots offer unique advantages in locomotion and adaptability.
• Existing soft robot designs face challenges in navigating steep inclines.
• Pneumatic actuators are a key component in soft robotics for generating motion.

Purpose of the Study:

• To present a comprehensive protocol for manufacturing, controlling, and evaluating a soft robot's performance on inclined surfaces.
• To develop a method for fabricating fast pneunet bending actuators suitable for newcomers.
• To design a versatile pneumatic control system and a semi-automated pressure-angle calibration method.

Main Methods:

• Manufacturing of fast pneunet bending actuators.
• Assembly of a pneumatic control box using off-the-shelf components, a laser cutter, and a soldering iron.
• Semi-automated pressure-angle calibration for optimizing walking performance.
• Modification of the gait pattern for enhanced foot fixation at high inclines (>70°).

Main Results:

• The soft robot successfully climbs inclined flat surfaces up to 84°.
• The manufacturing method is applicable to general pneunet bending actuators.
• The pneumatic control box allows for arbitrary pressure delivery.
• Modified gait patterns ensure reliable foot fixation on steep inclines, improving stability.

Conclusions:

• The presented protocol enables the creation and effective operation of a soft robot for steep incline climbing.
• The developed methods for actuator manufacturing, control, and calibration are accessible and practical.
• The modified gait pattern is crucial for maintaining locomotion and stability at high inclines, expanding the operational capabilities of soft robots.