Bistable Steering Mechanism for Enhanced Control in Soft Toroidal Robots.

Area of Science:

• Robotics
• Materials Science

Background:

• Conventional robots struggle with maneuverability in confined spaces like pipes and biological tissues.
• Soft toroidal robots offer a compact alternative but lack effective steering mechanisms.

Purpose of the Study:

• To develop a steering mechanism for soft toroidal robots by exploiting their inherent bistable characteristics.
• To enhance the adaptability and efficiency of soft robots in dynamic and complex terrains.

Main Methods:

• Developed a steering mechanism using the bistable properties of a toroidal structure and orthotropic ripstop nylon fabric.
• Employed theoretical modeling and experimental validation to identify key design parameters.
• Achieved 1-degree of freedom (DOF) steering by adjusting tail position within the structure.

Main Results:

• Demonstrated a soft toroidal robot (70 mm diameter, 400 mm length) capable of 1-DOF steering.
• Achieved a maximum curvature of 13.4 m⁻¹ through bistable deformation.
• Successfully navigated a T-shaped pipe and climbed vertically in confined spaces.

Conclusions:

• The novel steering mechanism significantly enhances the maneuverability of soft toroidal robots.
• This technology shows great potential for applications in confined environments, including industrial inspection and medical procedures.
• Soft toroidal robots with bistable steering offer a promising solution for navigating challenging terrains with increased efficiency.