Multi-directional crawling robot with soft actuators and electroadhesive grippers

Krishna Manaswi Digumarti; Chongjing Cao; Jianglong Guo; Andrew T. Conn; Jonathan Rossiter

doi:10.1109/ROBOSOFT.2018.8404936

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Krishna Manaswi Digumarti, Chongjing Cao, Jianglong Guo, Andrew T. Conn, Jonathan Rossiter

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

12 Citations (Scopus)

328 Downloads (Pure)

Abstract

This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.

Original language	English
Title of host publication	2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)
Subtitle of host publication	Proceedings of a meeting held 24-28 April 2018, Livorno, Italy
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	303-308
Number of pages	6
ISBN (Electronic)	9781538645161
ISBN (Print)	9781538645178
DOIs	https://doi.org/10.1109/ROBOSOFT.2018.8404936
Publication status	Published - 2018
Event	1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy Duration: 24 Apr 2018 → 28 Apr 2018

Conference

Conference	1st IEEE International Conference on Soft Robotics, RoboSoft 2018
Country	Italy
City	Livorno
Period	24/04/18 → 28/04/18

Structured keywords

Tactile Action Perception

Keywords

Soft Robotics
dielectric elastomer actuators (DEAs)
Electroadhesion

Access to Document

10.1109/ROBOSOFT.2018.8404936

Full-text PDF (accepted author manuscript)
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at https://ieeexplore.ieee.org/document/8404936 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 1.84 MB

Link to publication in Scopus

Fingerprint Dive into the research topics of 'Multi-directional crawling robot with soft actuators and electroadhesive grippers'. Together they form a unique fingerprint.

1 Finished

Integrated compliant actuation for untethered soft robotic systems
Conn, A. T.
1/10/17 → 21/12/18
Project: Research

Cite this

Digumarti, K. M., Cao, C., Guo, J., Conn, A. T., & Rossiter, J. (2018). Multi-directional crawling robot with soft actuators and electroadhesive grippers. In 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy (pp. 303-308). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ROBOSOFT.2018.8404936

Digumarti, Krishna Manaswi ; Cao, Chongjing ; Guo, Jianglong ; Conn, Andrew T. ; Rossiter, Jonathan. / Multi-directional crawling robot with soft actuators and electroadhesive grippers. 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE), 2018. pp. 303-308

@inproceedings{310a710124cf4d2e85671db3976946e5,

title = "Multi-directional crawling robot with soft actuators and electroadhesive grippers",

abstract = "This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.",

keywords = "Soft Robotics, dielectric elastomer actuators (DEAs), Electroadhesion",

author = "Digumarti, {Krishna Manaswi} and Chongjing Cao and Jianglong Guo and Conn, {Andrew T.} and Jonathan Rossiter",

year = "2018",

doi = "10.1109/ROBOSOFT.2018.8404936",

language = "English",

isbn = "9781538645178",

pages = "303--308",

booktitle = "2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)",

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

address = "United States",

note = "1st IEEE International Conference on Soft Robotics, RoboSoft 2018 ; Conference date: 24-04-2018 Through 28-04-2018",

}

Digumarti, KM, Cao, C, Guo, J, Conn, AT & Rossiter, J 2018, Multi-directional crawling robot with soft actuators and electroadhesive grippers. in 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE), pp. 303-308, 1st IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, 24/04/18. https://doi.org/10.1109/ROBOSOFT.2018.8404936

Multi-directional crawling robot with soft actuators and electroadhesive grippers. / Digumarti, Krishna Manaswi; Cao, Chongjing; Guo, Jianglong; Conn, Andrew T.; Rossiter, Jonathan.

2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 303-308.

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

TY - GEN

T1 - Multi-directional crawling robot with soft actuators and electroadhesive grippers

AU - Digumarti, Krishna Manaswi

AU - Cao, Chongjing

AU - Guo, Jianglong

AU - Conn, Andrew T.

AU - Rossiter, Jonathan

PY - 2018

Y1 - 2018

N2 - This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.

AB - This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.

KW - Soft Robotics

KW - dielectric elastomer actuators (DEAs)

KW - Electroadhesion

UR - http://www.scopus.com/inward/record.url?scp=85050697953&partnerID=8YFLogxK

U2 - 10.1109/ROBOSOFT.2018.8404936

DO - 10.1109/ROBOSOFT.2018.8404936

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:85050697953

SN - 9781538645178

SP - 303

EP - 308

BT - 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 1st IEEE International Conference on Soft Robotics, RoboSoft 2018

Y2 - 24 April 2018 through 28 April 2018

ER -

Digumarti KM, Cao C, Guo J, Conn AT , Rossiter J. Multi-directional crawling robot with soft actuators and electroadhesive grippers. In 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE). 2018. p. 303-308 https://doi.org/10.1109/ROBOSOFT.2018.8404936

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Abstract

Conference

Structured keywords

Keywords

Access to Document

Integrated compliant actuation for untethered soft robotic systems

Cite this