Reachability Improvement of a Climbing Robot Based on Large Deformations Induced by Tri-Tube Soft Actuators.

ABSTRACT: Locomotion of soft-bodied organisms, such as amoeba, worms, and octopuses, is safe, robust, and adaptable and has great promise for applications in complex environments. While such organisms fully exploit the potential provided by their soft structures, engineering solutions commonly constrain soft deformation in favor of controllability. In this study, we study how soft deformations can enhance the climbing capabilities of a robot. We introduce a robot called Longitudinally Extensible Continuum-robot inspired by Hirudinea (LEeCH), which has few shape constraints. Inspired by real leeches, LEeCH has a flexible extensible body and two suction cups at the ends. It is capable of performing 3D climbing locomotion using two suction cups driven by vacuum pumps and tri-tube soft actuators which h

SUBMITTER: Kanada A 

PROVIDER: S-EPMC6690730 | biostudies-literature | 2019 Aug

REPOSITORIES: biostudies-literature