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Cited by 338

The DOI matches its Crossref record.

A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot

Suzumori, Koichi, Endo, Satoshi, Kanda, Takefumi, Kato, Naomi, Suzuki, Hiroyoshi·2007·Proceedings 2007 IEEE International Conference on Robotics and Automation
DOI 10.1109/robot.2007.364246
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Abstract

This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and evaluated to lead to an optimal actuator design. The actuator works very well with smooth and soft motion. The manta swimming robot in which the developed actuators are embedded is also designed based on non-linear finite element method. The developed manta swimming robot is made only of rubber and it swims in water smoothly as if it was a living fish. The experimental results of the manta robot motion show that good agreement with those of analytical results.

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Metadata

Authors
Suzumori, K., Endo, S., Kanda, T., Kato, N., & Suzuki, H.
Venue
Proceedings 2007 IEEE International Conference on Robotics and Automation
Publisher
IEEE
Published
2007-04
Pages
4975-4980
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/robot.2007.364246
OpenAlex
W2054912718
Cited by
338
References
0
FWCI
10.73
Type
conference paper
Language
en
Open access
closed

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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.

Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.