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Multi-directional crawling robot with soft actuators and electroadhesive grippers

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

Original languageEnglish
Title of host publication2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)
Subtitle of host publicationProceedings of a meeting held 24-28 April 2018, Livorno, Italy
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)9781538645161
ISBN (Print)9781538645178
DateAccepted/In press - 1 Feb 2018
DateE-pub ahead of print - 5 Jul 2018
DatePublished (current) - 2018
Event1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy
Duration: 24 Apr 201828 Apr 2018


Conference1st IEEE International Conference on Soft Robotics, RoboSoft 2018


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.

    Research areas

  • Soft Robotics, dielectric elastomer actuators (DEAs), Electroadhesion

    Structured keywords

  • Tactile Action Perception


1st IEEE International Conference on Soft Robotics, RoboSoft 2018

Duration24 Apr 201828 Apr 2018

Event: Conference

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted 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, 1.84 MB, PDF document


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