Du, Liang and Ma, Shugen and Tokuda, Keisuke and Tian, Yang and Li, Longchuan (2022) Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits. Frontiers in Robotics and AI, 9. ISSN 2296-9144
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Abstract
Inchworm-styled locomotion is one of the simplest gaits for mobile robots, which enables easy actuation, effective movement, and strong adaptation in nature. However, an agile inchworm-like robot that realizes versatile locomotion usually requires effective friction force manipulation with a complicated actuation structure and control algorithm. In this study, we embody a friction force controller based on the deformation of the robot body, to realize bidirectional locomotion. Two kinds of differential friction forces are integrated into a beam-like soft robot body, and along with the cyclical actuation of the robot body, two locomotion gaits with opposite locomotion directions can be generated and controlled by the deformation process of the robot body, that is, the dynamic gaits. Based on these dynamic gaits, two kinds of locomotion control schemes, the amplitude-based control and the frequency-based control, are proposed, analyzed, and validated with both theoretical simulations and prototype experiments. The soft inchworm crawler achieves the versatile locomotion result via a simple system configuration and minimalist actuation input. This work is an example of using soft structure vibrations for challenging robotic tasks.
Item Type: | Article |
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Subjects: | Open Digi Academic > Mathematical Science |
Depositing User: | Unnamed user with email support@opendigiacademic.com |
Date Deposited: | 27 Jun 2023 06:16 |
Last Modified: | 04 Sep 2024 04:10 |
URI: | http://publications.journalstm.com/id/eprint/1190 |