期刊
BIOINSPIRATION & BIOMIMETICS
卷 8, 期 2, 页码 -出版社
IOP PUBLISHING LTD
DOI: 10.1088/1748-3182/8/2/026003
关键词
-
资金
- National Science Foundation (NSF) [CCF-1138967, NSF-1226883]
Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s(-1).
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