A multi-motion bionic soft hexapod robot driven by self-sensing controlled twisted artificial muscles

Artificial muscles have unique advantages for driving bionic robots because their driving mode is similar to biological muscles. However, there is still a big gap between the existing artificial muscle and biological muscle in performance. The twisted artificial muscles (TAMs) from nylon 6,6 provides a low-cost, high integration, low hysteresis driving method. But as a soft actuator, the control of the TAM is so complex that the advantage of excellent embeddedness has not been brought into play. This work presents a self-sensing control method for the TAM by monitoring the real-time resistance of the heating wire which realizes the accurate controlling of the TAM temperature. The simultaneous control of 18 TAMs is realized by using the self-sensing control method. By using a new step walking method based on the principle of insect bionics, a bionic soft hexapod robot with both multi-motion and load capacity is realized. Besides, due to the excellent environmental adaptability of the TAM, the bionic robot can realize amphibious motion both on land and underwater conditions, and the corresponding maximum load capacities are 300 g and 1 kg, respectively. This work not only provides a reliable self-sensing control method of the TAMs but also promotes the development of bionic soft robots.