Development of soft inchworm robot with friction control of feet using double-network gel

被引:11
作者
Selvamuthu, Moses Gladson [1 ]
Tadakuma, Riichiro [1 ]
Fujiwara, Naofumi [2 ]
Yoshida, Kazunari [2 ]
Takagi, Minoru [1 ]
Hoshino, Hiroyuki [3 ]
Suzuri, Yoshiyuki [4 ]
Furukawa, Hidemitsu [1 ]
机构
[1] Yamagata Univ, Grad Sch Sci & Engn, Dept Mech Syst Engn, Yamagata, Japan
[2] Yamagata Univ, Grad Sch Sci & Engn, Dept Appl Chem Chem Engn & Biochem Engn, Yamagata, Japan
[3] OtuA Inc, Tokyo, Japan
[4] Yamagata Univ, Innovat Ctr Organ Elect INOEL, Yamagata, Japan
基金
日本科学技术振兴机构;
关键词
Soft robotics; double-network hydrogel; active friction control; inchworm robot; 3D printed spring;
D O I
10.1080/01691864.2022.2152291
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this study, we investigate the development of an inchworm-inspired soft robot with active friction control of its feet. The focus is on its design, modeling, and locomotion principle. Friction control is achieved dynamically by using a unique material called double-network hydrogel (DN gel) to form the legs of the inchworm robot. DN gels are soft but tough materials, and they exhibit the unique characteristic of frictional difference on the surface under an applied voltage. This property is exploited to realize locomotion. A wide range of robot speeds can be realized through appropriate control of the voltage applied to its legs. Motion strategies with simultaneous control of actuation force and leg friction allow for greater flexibility in locomotion. The behavior of inchworm locomotion with change in the frictional difference between legs and actuator force was predicted using the developed mathematical model and was confirmed through experiments. Three different inchworm robot prototypes were developed and studied. The inchworm robot is characterized by low cost and inherent compliance, and it is easily disposable.
引用
收藏
页码:407 / 422
页数:16
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