期刊
SOFT ROBOTICS
卷 7, 期 6, 页码 700-710出版社
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2019.0090
关键词
wireless power transfer (WPT); soft-bodied robotics; autonomous mobile robot; shape memory alloy (SMA) coil
类别
资金
- JST ERATO, Japan [JPMJER1501]
- KAKENHI - JSPS [18H05467]
- EU ERASMUS Mundus TEAM Exchange program
- Grants-in-Aid for Scientific Research [18H05467] Funding Source: KAKEN
Wireless power transfer (WPT) has the significant potential for soft-bodied continuum robots to extend the operational time limitlessly and reduce weight. However, rigid power receiver coils, widely used in WPT, hinder the continuum deformation of the robot, and as a result, the function realization using the continuum deformation (e.g., locomotion) is impaired. Therefore, this article introduces that a soft-bodied continuum robot can be designed by using thin film receiver coils and an inductively coupled wireless powering solution without sacrificing the continuum deformation and locomotion ability. A system is described for powering and controlling a soft robotic caterpillar consisting of nothing more than its continuum structure, actuators, and thin/flexible power receiving coils.
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