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Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator
MIT, USA.
MIT, USA.
MIT, USA.
University of California, USA.
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2010 (English)In: 2010 IEEE international conference on robotics and automation, Piscataway, N.J.: IEEE Press, 2010, 5207-5212 p.Conference paper, Published paper (Refereed)
Abstract [en]

Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described. ©2010 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2010. 5207-5212 p.
Series
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20744DOI: 10.1109/ROBOT.2010.5509247ISI: 000284150000123Scopus ID: 2-s2.0-77955806258ISBN: 978-142445038-1 OAI: oai:DiVA.org:hh-20744DiVA: diva2:586843
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 03-08, 2010, Anchorage, AK
Available from: 2013-01-13 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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More styles
Language
  • de-DE
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Output format
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  • asciidoc
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