The DOI matches its Crossref record; 4 of the 4 references it cites were found in a registry or an index.
3D printed soft actuators for a legged robot capable of navigating unstructured terrain
Abstract
Soft robots have recently demonstrated impressive abilities to adapt to objects and their environment with limited sensing and actuation. However, mobile soft robots are typically fabricated using laborious molding processes that result in limited actuated degrees of freedom and hence limited locomotion capabilities. In this paper, we present a 3D printed robot with bellowed soft legs capable of rotation about two axes. This allows our robot to navigate rough terrain that previously posed a significant challenge to soft robots. We present models and FEM simulations for the soft leg modules and predict the robot locomotion capabilities. We use finite element analysis to simulate the actuation characteristics of these modules. We then compared the analytical and computational results to experimental results with a tethered prototype. The experimental soft robot is capable of lifting its legs 5.3 cm off the ground and is able to walk at speeds up to 20 mm/s (0.13 bl/s). This work represents a practical approach to the design and fabrication of functional mobile soft robots.
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Cites
Design, fabrication and control of soft robots
Rus, D., & Tolley, M. T. (2015) · Nature · doi:10.1038/nature14543 · Cited by 5,825
Self-citationSoft robotics: a bioinspired evolution in robotics
Kim, S., Laschi, C., & Trimmer, B. (2013) · Trends in Biotechnology · doi:10.1016/j.tibtech.2013.03.002 · Cited by 2,092
Tongues, Tentacles and Trunks: the Biomechanics of Movement in Muscular-Hydrostats
KIER, W. M., & SMITH, K. K. (1985) · Zoological Journal of the Linnean Society · doi:10.1111/j.1096-3642.1985.tb01178.x · Cited by 910
An octopus-bioinspired solution to movement and manipulation for soft robots
Calisti, M., Giorelli, M., Levy, G., Mazzolai, B., Hochner, B., Laschi, C., & Dario, P. (2011) · Bioinspiration & Biomimetics · doi:10.1088/1748-3182/6/3/036002 · Cited by 465 · cited 1×
“Previous work has designed soft robots to emulate these behaviors and achieve similar goals [13].”
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Cited by
Electronic skins and machine learning for intelligent soft robots
Shih, B., Shah, D., Li, J., Thuruthel, T. G., Park, Y.-L., Iida, F., Bao, Z., Kramer-Bottiglio, R., & Tolley, M. T. (2020) · Science Robotics · doi:10.1126/scirobotics.aaz9239 · Cited by 715
Self-citationGu, G., Zou, J., Zhao, R., Zhao, X., & Zhu, X. (2018) · Science Robotics · doi:10.1126/scirobotics.aat2874 · Cited by 687
Yirmibeşoğlu, O. D., Oshiro, T., Olson, G., Palmer, C., & Mengüç, Y. (2019) · Frontiers in Robotics and AI · doi:10.3389/frobt.2019.00040 · Cited by 51
Metadata
- Authors
- Drotman, D., Jadhav, S., Karimi, M., de Zonia, P., & Tolley, M. T.
- Venue
- 2017 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2017-05
- Pages
- 5532-5538
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2738259110
- Cited by
- 175
- References
- 4
- FWCI
- 42.46
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Drotman, D., Jadhav, S., Karimi, M., de Zonia, P., & Tolley, M. T. (2017). 3D printed soft actuators for a legged robot capable of navigating unstructured terrain. 2017 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2017.7989652
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