Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator

Nadia Cheng, Genya Ishigami, Stephan Hawthorne, Hao Chen, Malik Hansen, Maria Telleria, Robert Playter, Karl Iagnemma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

54 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages5207-5212
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator'. Together they form a unique fingerprint.

  • Cite this

    Cheng, N., Ishigami, G., Hawthorne, S., Chen, H., Hansen, M., Telleria, M., Playter, R., & Iagnemma, K. (2010). Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 5207-5212). [5509247] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509247