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Related Experiment Video

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

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

Published on: June 10, 2020

Simple and Fast Locomotion of Vibrating Asymmetric Soft Robots.

Alberico Sabbadini¹, Mostafa A Atalla¹, Michaël Wiertlewski¹

¹Department of Mechanical, Maritime, and Materials Engineering, Delft University of Technology, Delft, The Netherlands.

|July 20, 2023

Summary

Researchers developed a novel soft robot locomotion mechanism. This mechanism enables fast, efficient movement in unstructured environments using simple actuation and control, overcoming previous limitations.

Keywords:

fast locomotion frictional anisotropy soft robotic locomotion untethered vibration

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Soft robots offer adaptability for unstructured environments through material compliance.
Existing soft robot locomotion faces trade-offs between speed, range, and control complexity.
Passive compliance in soft robots hinders efficient propulsion generation.

Purpose of the Study:

To overcome the limitations of current soft robot locomotion.
To develop a rapid soft locomotor with elementary actuation and control.
To enable complex behaviors through modular robotic units.

Main Methods:

Developed a locomotion mechanism based on symmetric vibrations, elasticity, and asymmetric morphology.
Realized a rapid soft locomotor using inexpensive, off-the-shelf components.
Derived a predictive model for robot speed based on design parameters and physical properties.

Main Results:

A single soft robot unit achieved speeds up to 100 mm/s (tethered) and 35 mm/s (untethered).
The derived model highlights the role of geometric asymmetries in anisotropic motion.
Two units in parallel demonstrated coordinated locomotion and steering capabilities.

Conclusions:

The novel mechanism overcomes the speed, range, and control trade-offs in soft robot locomotion.
The approach enables low-cost, fast-traveling soft robots with simple fabrication and control.
Modular units can be combined for complex functions without sacrificing simplicity.