Morphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators.

ABSTRACT: Soft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named "morphological control", and it can be used to decrease the number of components (tubing, valves and regulators) required by the controller. In this paper, we demonstrate morphological control of bio-inspired asymmetric motions for systems of soft bending actuators that are interconnected with passive flow restrictors. We introduce bending actuators consisting out of a cylindrical latex balloon in a flexible PVC shell. By

SUBMITTER: Milana E 

PROVIDER: S-EPMC8762291 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature