Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits

Area of Science:

• Robotics
• Soft Robotics
• Biomimetic Engineering

Background:

• Inchworm locomotion is a simple yet effective natural gait for mobile robots.
• Achieving agile, versatile locomotion in inchworm robots typically requires complex actuation and control.
• Friction manipulation is key for effective inchworm-like movement.

Purpose of the Study:

• To develop a soft inchworm robot with versatile, bidirectional locomotion.
• To realize locomotion through a simple, body-deformation-based friction control system.
• To demonstrate the use of soft structure vibrations for robotic locomotion.

Main Methods:

• Integrated two types of differential friction forces into a soft, beam-like robot body.
• Utilized cyclical actuation and body deformation to generate dynamic gaits.
• Developed and validated amplitude-based and frequency-based locomotion control schemes.
• Performed theoretical simulations and prototype experiments.

Main Results:

• Successfully achieved bidirectional locomotion using body deformation for friction control.
• Demonstrated versatile locomotion with a simple system configuration and minimal actuation.
• Generated two distinct locomotion gaits controlled by the robot's dynamic deformation process.
• Validated the proposed control schemes through simulations and experiments.

Conclusions:

• Soft structure vibrations can be effectively used for challenging robotic tasks like locomotion.
• The developed soft inchworm crawler offers a simple yet agile solution for versatile robotic movement.
• Body deformation-based friction control is a viable method for achieving controlled locomotion in soft robots.