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Tiled Auxetic Cylinders for Soft Robots

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)
Pages62-67
Number of pages6
Edition2
ISBN (Electronic)9781538692608
ISBN (Print)9781538692615
DOIs
DateAccepted/In press - 23 Jan 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

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period14/04/1918/04/19

Abstract

Compliant structures allow robots to overcome environmental challenges by deforming and conforming their bodies. In this paper, we investigate auxetic structures as a means of achieving this compliance for soft robots. Taking a tiling based approach, we fabricate 3D printed cylindrical auxetic structures to create tiled auxetic cylinders (TACs). We characterise the relative stiffness of the structures and show that variation in behaviour can be achieved by modifying the geometry within the same tiling family. In addition, we analysed the equivalent Poisson's ratio and found the range between the investigated designs to span from -0.33 to -2. Furthermore, we demonstrate a conceptual application in the design of a soft robot using the auxetic cylinders. We show that these structures can reactively change in shape, thereby reducing the complexity of control, with potential applications in confined spaces such as the human body, or for exploration through unpredictable terrain.

    Research areas

  • auxetics, Soft-Robotics

    Structured keywords

  • Tactile Action Perception

Event

2019 IEEE International Conference on Soft Robotics, RoboSoft 2019

Duration14 Apr 201918 Apr 2019
CitySeoul
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 https://doi.org/10.1109/ROBOSOFT.2019.8722742 . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 3 MB, PDF document

    Licence: Other

DOI

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