Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator

被引：56

作者：

Cheng, Nadia ^{[1
]}

Ishigami, Genya ^{[1
]}

Hawthorne, Stephan ^{[1
]}

Chen, Hao ^{[2
]}

Hansen, Malik ^{[3
]}

Telleria, Maria ^{[1
]}

Playter, Robert ^{[3
]}

Iagnemma, Karl ^{[1
]}

机构：

[1] MIT, 77 Massachusetts Ave, Cambridge, MA 02139 USA

[2] Univ Calif Berkeley, Berkeley, CA 94720 USA

[3] Boston Dynam, Waltham, MA 02454 USA

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

D O I：

10.1109/ROBOT.2010.5509247

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described.

引用

页码：5207 / 5212

页数：6

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