Paper Info
Title
Caterpillar-inspired crawling robot on a stick using active-release and passive-grip elastic legs
Abstract
This paper presents a lightweight caterpillar-inspired soft-bodied robot that produces crawling locomotion on a stick. The significant features are passive-grip/active-release opposable legs and dual elastic arch structure to couple the segment contraction and the leg opening. These actuations are driven by a shape memory alloy (SMA) coil attached along the body axis. The mechanical design allows the robot to hold the unstable substrate without energy consumption. We find that adequate activation time lag between the legs/segments exists but the system is not sensitive to the parameter changes thanks to the softness of the body. The robot can build very cheap (less than 30 US dollars) to 3d-print using hard and rubber-like materials together, which doesn't require any assembly labor to build the body.
Year
DOI
Venue
2018
10.1109/ROBOSOFT.2018.8405369
2018 IEEE International Conference on Soft Robotics (RoboSoft)
Keywords
Field
DocType
passive-grip elastic legs,lightweight caterpillar-inspired soft-bodied robot,dual elastic arch structure,shape memory alloy coil,caterpillar-inspired crawling robot,active-release opposable legs,passive-grip opposable legs,active-release elastic legs
SMA*,Arch,Crawling,Computer science,Mechanical engineering,Electromagnetic coil,Shape-memory alloy,Robot,Elasticity (economics),Energy consumption
Conference
ISBN
Citations 
PageRank 
978-1-5386-4517-8
0
0.34
References 
Authors
3
2
Name
Order
Citations
PageRank
Takuya Umedachi17615.88
Yoshihiro Kawahara237373.04