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- W4317373359 abstract "Inchworm‐like robots have been increasingly investigated in recent years. However, most studies have focused on one or several locomotion modes, lacking in terms of inverted climbing, movement with a heavy load, and climbing a vertical plane. Herein, an inchworm‐like soft robot is actuated with multimodal locomotion using an acrylic stick‐constrained dielectric elastomer actuator (ASCDEA). By assembling the ASCDEA with a flexible support frame, a soft saddle‐like shape body is designed to provide the shape deformation ability for the robot. This design enables the robot to move under a heavy load. Two electroadhesion actuators are designed to implement the anchoring action. Additionally, a coordination control strategy is developed to synchronize the shape deformation and electroadhesion for multimodal locomotion. Experimental results confirm that the designed robot can move at a maximum velocity of 39.55 mm s −1 (0.53 body length s −1 ) on an inverted plane. Moreover, the robot is capable of multimodal locomotion, including inverted climbing, vertical climbing, horizontal crawling, turning locomotion, and rapid movement with a heavy load. The developed soft robot can navigate through a confined horizontal tunnel while carrying a payload, cross a gap, circumvent obstacles, and is particularly robust owing to its compliance." @default.
- W4317373359 created "2023-01-19" @default.
- W4317373359 creator A5006250732 @default.
- W4317373359 creator A5017573625 @default.
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- W4317373359 date "2023-01-18" @default.
- W4317373359 modified "2023-10-14" @default.
- W4317373359 title "Inchworm‐Like Soft Robot with Multimodal Locomotion Using an Acrylic Stick‐Constrained Dielectric Elastomer Actuator" @default.
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- W4317373359 doi "https://doi.org/10.1002/aisy.202200209" @default.
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