A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Chongjing Cao; Richard Suphapol Diteesawat; Jonathan Rossiter; Andrew T. Conn

doi:10.1109/ROBOSOFT.2019.8722789

A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Chongjing Cao, Richard Suphapol Diteesawat, Jonathan Rossiter, Andrew T. Conn

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

26 Citations (Scopus)

455 Downloads (Pure)

Abstract

In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworm-inspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35% its body weight at a slower speed.

Original language	English
Title of host publication	IEEE International Conference on Soft Robotics (Robosoft 2019)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	840-845
Number of pages	6
ISBN (Electronic)	9781538692608
DOIs	https://doi.org/10.1109/ROBOSOFT.2019.8722789
Publication status	Published - 24 May 2019
Event	2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of Duration: 14 Apr 2019 → 18 Apr 2019

Conference

Conference	2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Country/Territory	Korea, Republic of
City	Seoul
Period	14/04/19 → 18/04/19

Research Groups and Themes

Tactile Action Perception

Access to Document

10.1109/ROBOSOFT.2019.8722789

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This is the accepted author manuscript (AAM). The final published version (version of record) is available online via IEEE at https://doi.org/10.1109/ROBOSOFT.2019.8722789 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 881 KBLicence: Other

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@inproceedings{efb7088ae1ec424ab1f2a1206c4e521b,

title = "A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle",

abstract = "In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworm-inspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35\% its body weight at a slower speed.",

author = "Chongjing Cao and Diteesawat, \{Richard Suphapol\} and Jonathan Rossiter and Conn, \{Andrew T.\}",

year = "2019",

month = may,

day = "24",

doi = "10.1109/ROBOSOFT.2019.8722789",

language = "English",

pages = "840--845",

booktitle = "IEEE International Conference on Soft Robotics (Robosoft 2019)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 ; Conference date: 14-04-2019 Through 18-04-2019",

}

Cao, C, Diteesawat, RS , Rossiter, J & Conn, AT 2019, A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle. in IEEE International Conference on Soft Robotics (Robosoft 2019)., 8722789, Institute of Electrical and Electronics Engineers (IEEE), pp. 840-845, 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul, Korea, Republic of, 14/04/19. https://doi.org/10.1109/ROBOSOFT.2019.8722789

A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle. / Cao, Chongjing; Diteesawat, Richard Suphapol ; Rossiter, Jonathan et al.
IEEE International Conference on Soft Robotics (Robosoft 2019). Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 840-845 8722789.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

AU - Cao, Chongjing

AU - Diteesawat, Richard Suphapol

AU - Rossiter, Jonathan

AU - Conn, Andrew T.

PY - 2019/5/24

Y1 - 2019/5/24

N2 - In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworm-inspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35% its body weight at a slower speed.

AB - In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworm-inspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35% its body weight at a slower speed.

UR - https://www.scopus.com/pages/publications/85067099979

U2 - 10.1109/ROBOSOFT.2019.8722789

DO - 10.1109/ROBOSOFT.2019.8722789

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:85067099979

SP - 840

EP - 845

BT - IEEE International Conference on Soft Robotics (Robosoft 2019)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019

Y2 - 14 April 2019 through 18 April 2019

ER -

A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Abstract

Conference

Research Groups and Themes

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Integrated compliant actuation for untethered soft robotic systems

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A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

Abstract

Conference

Research Groups and Themes

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Other files and links

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Projects

Integrated compliant actuation for untethered soft robotic systems

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