Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot
Abstract
:1. Introduction
2. Materials and Methods
2.1. Structural Design of the OVFSCR
2.2. Crawling Locomotion Mechanism
2.3. Theoretical Modeling of the OVFSCR
3. Results
3.1. Crawling on Flat Surfaces with Different Substrates
3.2. Pushing Objects and Passing through Tubes
3.3. Climbing Slopes
3.4. Carrying Different Payloads
3.5. Travelling across Different Media and Bearing Impact
4. Conclusions and Future Work
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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SCRs | Actuation Method | Tethered | BL (mm) | Linear Speed (mm/s) | Turning Speed (°/s) |
---|---|---|---|---|---|
Our robot | Vacuum | Yes | 143 | 11.9 | 13.5 |
Robot [32] | Vacuum | Yes | 135 | 5.0 | 3.5 |
Robot [35] | Vacuum | Yes | 135 | 10.3 | 15.09 |
Robot [12] | Pos-pressure | Yes | 135.7 | 7.2 | Unknown |
Robot [24] | Pos-pressure | No | 650 | 5.0 | ~0.21 |
Robot [38] | Pos-pressure | Yes | 154 | 5.1 | 1.63 |
Robot [15] | SMA | Yes | 196 | 3.6 | 0.15 |
Robot [39] | SMA | Yes | 200 | 5.25 | ~0.35 |
Robot [10] | DE | Yes | 170 | 5.3 | Unknown |
Robot [40] | DE | No | 110 | 4.16 | ~0.3 |
SCRs | Actuation Method | Self-Weight (g) | Payload/Self-Weight | Response Time (s) | Stability | Durability |
---|---|---|---|---|---|---|
Our robot | Vacuum | 22.5 | ~178% | ~1.5 | Yes | Yes |
Robot [24] | Pos-pressure | 3800 | ~58% | ~13.0 | Yes | No |
Robot [15] | SMA | 63.0 | Unknown | ~15.0 | No | No |
Robot [41] | DE | 5.0 | ~200% | ~3.8 | No | No |
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Xu, Q.; Zhang, K.; Ying, C.; Xie, H.; Chen, J.; E, S. Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot. Biomimetics 2024, 9, 541. https://doi.org/10.3390/biomimetics9090541
Xu Q, Zhang K, Ying C, Xie H, Chen J, E S. Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot. Biomimetics. 2024; 9(9):541. https://doi.org/10.3390/biomimetics9090541
Chicago/Turabian StyleXu, Qiping, Kehang Zhang, Chenhang Ying, Huiyu Xie, Jinxin Chen, and Shiju E. 2024. "Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot" Biomimetics 9, no. 9: 541. https://doi.org/10.3390/biomimetics9090541
APA StyleXu, Q., Zhang, K., Ying, C., Xie, H., Chen, J., & E, S. (2024). Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot. Biomimetics, 9(9), 541. https://doi.org/10.3390/biomimetics9090541