Paper Info
Title
Biomimetic printable hexapod robot driven by soft actuator
Abstract
This paper presents the preliminary design of a biomimetic printable hexapod robot driven by soft actuators. The robot mimics the insect's design with six legs and shows the capability of versatile locomotion on flat terrains by using alternating tripod gait. The soft and multiple degree-of-freedom (multi-DOF) actuators based on dielectric elastomer provide required motions of the robot with a simple mechanism based on antagonistic configuration. The fabrication of the robot is effectively implemented by 3D printing method. In addition, a control system is built to provide various locomotion and walking speeds for the robot and its operation is demonstrated.
Year
DOI
Venue
2014
10.1109/URAI.2014.7057528
URAI
Keywords
Field
DocType
robot walking speed,printable robot,alternating tripod gait,robot fabrication,motion control,dielectric elastomer,elastomers,3d printing method,antagonistic configuration,legged locomotion,biomimetic printable hexapod robot,robot design,velocity control,biomimetic hexapod,soft actuator,robot locomotion,actuators,biomimetics,electrodes,prototypes,materials,dielectrics
Simulation,Control engineering,3D printing,Control system,Engineering,Tripod (photography),Robot,Hexapod,Soft actuator,Actuator
Conference
ISSN
Citations 
PageRank 
2325-033X
0
0.34
References 
Authors
0
10
Name
Order
Citations
PageRank
Canh Toan Nguyen100.68
Hoa Phung231.40
Tien D. Nguyen3556.92
Choonghan Lee421.73
Ui Kyum Kim5263.66
Donghyouk Lee600.34
Hyungpil Moon717538.32
Jachoon Koo86014.58
Jae-do Nam9527.78
Hyoukryeol Choi109720.14