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A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

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

Original languageEnglish
Title of host publicationIEEE International Conference on Soft Robotics (Robosoft 2019)
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)9781538692608
DateAccepted/In press - 20 Feb 2019
DatePublished (current) - 24 May 2019
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019


Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of


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.

    Structured keywords

  • Tactile Action Perception


2019 IEEE International Conference on Soft Robotics, RoboSoft 2019

Duration14 Apr 201918 Apr 2019
CountryKorea, Republic of
Degree of recognitionInternational event

Event: Conference

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the accepted author manuscript (AAM). The final published version (version of record) is available online via IEEE at . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 880 KB, PDF document

    Licence: Other


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