Development of a Highly Adaptive Miniature Piezoelectric Robot Inspired by Earthworms.

ABSTRACT: Miniature resonant piezoelectric robots have the advantages of compact structure, fast response, high speed, and easy control, which have attracted the interest of many scholars in recent years. However, piezoelectric robots usually suffer from the problem of poor adaptability due to the micron-level amplitude at the feet. Inspired by the fact that earthworms have actuation trajectories all around their bodies to move flexibly under the ground, a miniature piezoelectric robot with circumferentially arranged driving feet to improve adaptability is proposed. Notably, a longitudinal-vibration-compound actuation principle with multilegged collaboration is designed to achieve the actuation trajectories around the robot, similar to the earthworms. The structure and operating principle are simula

SUBMITTER: Deng J 

PROVIDER: S-EPMC11304247 | biostudies-literature | 2024 Aug

REPOSITORIES: biostudies-literature