An Integrated Compliant Fabric Skin Softens, Lightens, and Simplifies a Mesh Robot

Autor:	Akhil Kandhari, Anna Mehringer, Kathryn A. Daltorio, Roger D. Quinn, Hillel J. Chiel
Rok vydání:	2017
Předmět:	0209 industrial biotechnology Biological inspiration 020901 industrial engineering & automation Computer science Robot 02 engineering and technology 021001 nanoscience & nanotechnology 0210 nano-technology Simulation Search and rescue
Zdroj:	Biomimetic and Biohybrid Systems ISBN: 9783319635361 Living Machines
Popis:	Earthworms are particularly skilled at navigating through confined spaces. Therefore, creating a soft robot that mimics their peristaltic locomotion could provide unique advantages for pipe inspection, search and rescue, exploration, and medical applications. Here we present the design of a new robot, FabricWorm, that like its predecessor, CMMWorm, has six segments that are actuated with circumferential cables sequentially to mimic the peristaltic motion in an earthworm. However, compared to its predecessor, FabricWorm is 41% softer, is 23% lighter, and has 64% fewer rigid structural components due to the integration of the mesh within a fabric skin. These improvements, and the benefit of a continuous fabric skin, can be important advantages for worm-like robots.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::405fe5730b1bd80dc0b9bd8519fa8e7a https://doi.org/10.1007/978-3-319-63537-8_27 Zobrazit plný text záznamu