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

42 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 publicationProceedings - IEEE International Conference on Robotics and Automation
Pages5207-5212
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Other

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

Fingerprint

Mobile robots
Actuators
Robotics
Degrees of freedom (mechanics)
Soldering alloys
Robots
Friction

ASJC Scopus subject areas

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

Cite this

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

Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. / Cheng, Nadia; Ishigami, Genya; Hawthorne, Stephan; Chen, Hao; Hansen, Malik; Telleria, Maria; Playter, Robert; Iagnemma, Karl.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 5207-5212 5509247.

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

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 Proceedings - IEEE International Conference on Robotics and Automation., 5509247, pp. 5207-5212, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509247
Cheng N, Ishigami G, Hawthorne S, Chen H, Hansen M, Telleria M et al. Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 5207-5212. 5509247 https://doi.org/10.1109/ROBOT.2010.5509247
Cheng, Nadia ; Ishigami, Genya ; Hawthorne, Stephan ; Chen, Hao ; Hansen, Malik ; Telleria, Maria ; Playter, Robert ; Iagnemma, Karl. / Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 5207-5212
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