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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
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Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference.

Hiroaki Tanaka1, Tsung-Yuan Chen1, Koh Hosoda1

  • 1Adaptive Robotics Laboratory, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan.

Frontiers in Robotics and AI
|May 10, 2021
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Summary

This study shows how soft quadruped robots can dynamically turn by adjusting leg phase differences. Changing this phase alters leg-terrain contact, enabling agile turning for soft robots.

Keywords:
body-environment interactiondynamic turnpneumatic artificial musclequadruped robotsoft robotics

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Area of Science:

  • Robotics
  • Soft Robotics
  • Locomotion

Background:

  • Dynamic locomotion in quadruped robots arises from body-terrain interactions.
  • Soft-bodied robots offer potential for simpler control in dynamic locomotion.
  • Understanding turning mechanisms is crucial for robot maneuverability.

Purpose of the Study:

  • To investigate dynamic turning capabilities in a soft quadruped robot.
  • To explore the effect of leg phase differences on turning behavior.
  • To develop a soft quadruped robot capable of dynamic turning.

Main Methods:

  • A soft quadruped robot was developed using McKibben pneumatic artificial muscles.
  • The phase difference between left and right legs was manipulated to induce turning.
  • The phase difference between hind and fore legs was kept constant.
  • Leg-terrain contact patterns were adaptively varied by adjusting phase differences.

Main Results:

  • Changes in leg phase difference directly influenced hind leg contact times.
  • The soft robot demonstrated dynamic turning capabilities.
  • Adaptive contact patterns were achieved through phase difference modulation.

Conclusions:

  • Modulating leg phase differences is an effective method for dynamic turning in soft quadruped robots.
  • Soft leg compliance allows adaptive terrain interaction, facilitating maneuverability.
  • This research contributes to the development of agile and adaptable soft robotic systems.