Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots.

ABSTRACT: Earthworms have entirely soft bodies mainly composed of circular and longitudinal muscle bundles but can handle the complexity of unstructured environments with exceptional multifunctionality. Soft robots are naturally appropriate for mimicking soft animal structures thanks to their inherent compliance. Here, we explore the new possibility of using this compliance to coordinate the actuation movements of single-type soft actuators for not only high adaptability but the simultaneous multifunctionality of soft robots. A cross-linked actuator coordination mechanism is proposed and explained with a novel conceptual design of a cross-linked network, characterization of modular coordinated kinematics, and a modular control strategy for multiple functions. We model and analyze the motion patterns

SUBMITTER: Fang Z 

PROVIDER: S-EPMC10372032 | biostudies-literature | 2023 Jul

REPOSITORIES: biostudies-literature