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Updated: Aug 15, 2025
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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
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Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot
Ying Liu1, Jiaming Liang2, Jiangfeng Lu1
1Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China.
Soft Robotics
|December 28, 2022
Summary
This study introduces an insect-scale soft robot with novel curved legs, capable of navigating complex 3D terrain using an "elastic gait." The robot demonstrates superior mobility over uneven surfaces and obstacle-climbing abilities compared to traditional designs.
Area of Science:
- Robotics
- Soft Robotics
- Bio-inspired Engineering
Background:
- Traditional robots struggle with complex 3D terrains.
- Insect-scale robots require advanced locomotion for diverse environments.
Purpose of the Study:
- To develop a piezoelectric-driven, insect-scale soft robot with enhanced mobility.
- To enable traversal of complex 3D terrain through body-terrain mechanical interaction.
Main Methods:
- Finite element simulation and experimental validation for leg design.
- Development of ring-like, closed-degree leg structures.
- Asymmetrical robot body design for improved vibration-to-force conversion.
Main Results:
- The curved-legged robot smoothly traverses rugged 3D terrains.
- Achieves speeds over 4 body lengths per second.
- Successfully climbs obstacles up to 1.9 times body height (BH).
Conclusions:
- The proposed curved-leg design significantly enhances soft robot mobility in complex environments.
- The "elastic gait" enabled by body-terrain interaction is effective for locomotion.
- This robotic design offers a promising solution for exploration and navigation in challenging terrains.
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