Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits.

ABSTRACT: Inchworm-styled locomotion is one of the simplest gaits for mobile robots, which enables easy actuation, effective movement, and strong adaptation in nature. However, an agile inchworm-like robot that realizes versatile locomotion usually requires effective friction force manipulation with a complicated actuation structure and control algorithm. In this study, we embody a friction force controller based on the deformation of the robot body, to realize bidirectional locomotion. Two kinds of differential friction forces are integrated into a beam-like soft robot body, and along with the cyclical actuation of the robot body, two locomotion gaits with opposite locomotion directions can be generated and controlled by the deformation process of the robot body, that is, the dynamic gaits. Based o

SUBMITTER: Du L 

PROVIDER: S-EPMC9243582 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature