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

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Design, Analysis, and Real-Time Simulation of a 3D Soft Robotic Snake.

Zhenyu Wan¹, Yinan Sun¹, Yun Qin¹

¹Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, Massachusetts, USA.

|August 17, 2022

Summary

This study introduces a novel soft robotic snake capable of 3D locomotion and step climbing. Its advanced design and simulation tools enable efficient development of new gaits for search-and-rescue applications.

Keywords:

bioinspired locomotion pneumatics soft robot simulation soft snake robot

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Area of Science:

Robotics
Soft Robotics
Bio-inspired Engineering

Background:

Snakes' locomotion and body structure offer unique advantages for robots operating in confined or challenging environments.
Soft robotics technologies enable the creation of robots that mimic biological systems, expanding robotic capabilities.

Purpose of the Study:

To present a novel soft robotic snake with active 3D deformation capabilities.
To rigorously evaluate the robot's performance across various conditions, including gait parameters, module configurations, and environmental factors.
To introduce a real-time simulation tool for accelerated development and testing of locomotion gaits.

Main Methods:

Development of a soft, 3D-printed wave spring sheath to enhance module support and performance.
Systematic testing of the robotic snake's locomotion on different surfaces and its ability to climb steps.
Creation of a numerical model and simulator for real-time performance analysis and gait development.

Main Results:

The soft robotic snake demonstrated effective locomotion on diverse surfaces and the ability to perform multiple bio-inspired and custom gaits.
The developed wave spring sheath significantly improved step-climbing performance by threefold.
The real-time simulator facilitated rapid testing and refinement of new locomotion strategies.

Conclusions:

The presented soft robotic snake is a versatile platform for search-and-rescue operations in complex terrains.
The integration of simulation tools accelerates the innovation cycle for soft robotic locomotion.
This research advances the field of soft robotics by demonstrating practical applications in bio-inspired locomotion and challenging environments.