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A Rolling Soft Robot Driven by Local Snap-Through Buckling.

Pengfei Yang1, Yuqing Mao1, Hong Liu1

  • 1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.

Soft Robotics
|December 12, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a novel rolling soft robot utilizing snap-through buckling for improved speed and energy efficiency. The robot demonstrates remarkable adaptability across varied and complex terrains.

Keywords:
bistablepneumatic actuationrolling mechanismsoft robot

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Area of Science:

  • Robotics
  • Soft Robotics
  • Mechanical Engineering

Background:

  • Existing rolling soft robots face challenges in balancing locomotion speed, energy efficiency, and terrain adaptability.
  • Limitations in current designs hinder their performance in diverse environmental conditions.

Purpose of the Study:

  • To propose and analyze a novel rolling soft robot driven by local snap-through buckling.
  • To enhance locomotion performance, speed, and energy efficiency in soft robots.
  • To investigate and validate the robot's adaptability to complex terrains.

Main Methods:

  • Development of a rolling soft robot employing bistable structures for enhanced locomotion.
  • Establishment of a theoretical framework based on bifurcation and energy principles to analyze the rolling mechanism.
  • Experimental investigation and validation of the influences of loading position and geometric parameters on rolling performance.

Main Results:

  • The soft robot achieves a locomotion speed of 0.95 body lengths per second (BL/s).
  • Minimal energy loss is observed due to a stable configuration during rolling.
  • Demonstrated adaptability to complex terrains, including climbing a 15 mm step, navigating a 18.36° slope, and crossing a 90 mm gap (0.443 BL).

Conclusions:

  • The proposed rolling soft robot driven by snap-through buckling offers superior locomotion speed and energy efficiency.
  • The robot exhibits significant adaptability to challenging and complex terrains.
  • This research provides valuable insights and inspiration for future developments in rolling soft robot technology for applications in exploration and medicine.