Soft mobile robot inspired by animal-like running motion
Open Access
- 11 October 2019
- journal article
- research article
- Published by Springer Science and Business Media LLC in Scientific Reports
- Vol. 9 (1), 1-9
- https://doi.org/10.1038/s41598-019-51308-4
Abstract
There is a considerable demand for legged robots with exploring capabilities such as passing through narrow pathways. Soft robots can provide a solution for such applications. Here, we propose a soft legged mobile robot with bimorph piezoelectric main body and pre-curved piezoelectric legs. We experimentally demonstrate the performance of the soft mobile robot. The mobile robot can move 70% of the body length per second. In addition, we investigate physical mechanisms behind the locomotion of the mobile robot using a numerical simulation. Interestingly, the mobile robot generates an animal-like running motion. We find that the amplitude difference of the legs, depending on the leg activation condition, may affect the performance of the robot. We also confirm that the soft mobile robot can maintain the movement under impulsive shock owing to its flexibility.This publication has 33 references indexed in Scilit:
- A traveling wave piezoelectric beam robotSmart Materials and Structures, 2013
- A Terradynamics of Legged Locomotion on Granular MediaScience, 2013
- Multigait soft robotProceedings of the National Academy of Sciences of the United States of America, 2011
- GoQBot: a caterpillar-inspired soft-bodied rolling robotBioinspiration & Biomimetics, 2011
- Sensitive dependence of the motion of a legged robot on granular mediaProceedings of the National Academy of Sciences of the United States of America, 2009
- Motions of the running horse and cheetah revisited: fundamental mechanics of the transverse and rotary gallopJournal of The Royal Society Interface, 2008
- An Ultrasonic Standing-wave-actuated Nano-positioning Walking Robot: Piezoelectric-metal Composite Beam ModelingJournal of Vibration and Control, 2006
- Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II RobotThe International Journal of Robotics Research, 2005
- Development of a new standing wave type ultrasonic linear motorSensors and Actuators A: Physical, 2004
- Motions of the Running Cheetah and HorseJournal of Mammalogy, 1959