Related Experiment Video
Updated: Jul 4, 2026
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
Design of an inchworm-inspired crawling robot based on dielectric elastomers
Hanfeng Bao1, Yijing Niu1, Guanyao Qiao1
1College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001, People's Republic of China.
Bioinspiration & Biomimetics
|July 2, 2026
Summary
This study introduces a fully soft crawling robot using dielectric elastomer minimum energy structures for bidirectional movement. This innovation enables stable locomotion without rigid parts, opening new possibilities for soft robotics.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Existing soft robots often use hybrid structures or adsorption, limiting bidirectional locomotion.
- Fully flexible robots require novel actuation mechanisms for stable movement.
Purpose of the Study:
- To develop a completely soft robot capable of stable forward and backward crawling.
- To investigate the electro-induced deformation of dielectric elastomer minimum energy structures (DEMES) for actuation.
Main Methods:
- Design of a soft robot using acute-angled and obtuse-angled DEMES units.
- Development of an electromechanical coupling model and finite element analysis.
- Experimental validation of actuation performance and locomotion capabilities.
Main Results:
- A "top-aligned" configuration achieved a maximum bending angle of 140°.
- Pre-stretch ratio and hollowed-area geometry significantly impact actuation.
- Stable bidirectional locomotion achieved at 5 mm/s on various terrains, increasing to 8 mm/s on a 40° slope.
Conclusions:
- The proposed OA-FBCR demonstrates a new pathway for fully soft bidirectional crawling robots.
- This technology is suitable for micro-scale flexible exploration devices.
- Electro-induced deformation of DEMES offers a viable actuation method for soft robots.
