Influence of surface traction on soft robot undulation

International Journal of Robotics Research

Volumn 32, Issue 13, 2013, Pages 1577-1584

  Majidi, Carmel ^a   Shepherd, Robert F ^b   Kramer, Rebecca K ^c,d   Whitesides, George M ^b,d   Wood, Robert J ^c,d  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b HARVARD UNIVERSITY   (United States)

^c HARVARD UNIVERSITY   (United States)

^d HARVARD UNIVERSITY   (United States)

Author keywords

friction; inflation; pneumatic actuation; simulation; Soft robotics

Indexed keywords

INFLATION; LOCOMOTION STRATEGIES; MATHEMATICAL PRINCIPLE; PNEUMATIC ACTUATION; SIMULATION; SOFT ROBOTICS; THEORETICAL MODELING; TRIBOLOGICAL PROPERTIES;

BIPED LOCOMOTION; ELASTICITY; FRICTION; PNEUMATICS; TRIBOLOGY;

ROBOTS;

EID: 84889023489     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364913498432     Document Type: Article

References (26)

1. Alexandar RM Principles of Animal Locomotion. Princeton: Princeton University Press ; 2003: 86-89.
2. Arena P, Bonomo C, Fortuna L, et al. Design and control of an IPMC wormlike robot. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. 2006 ; 36 (5). 1044-1052 (Pubitemid 44500775)
3. Berrigan D, Pepin DJ. How maggots move - allometry and kinematics of crawling in larval diptera. Journal of Insect Physiology. 1995 ; 41 (4). 329-337
4. Casey TM. Energetics of caterpillar loco-motion - biomechanical constraints of a hydraulic skeleton. Science. 1991 ; 252 (5002). 112-114 (Pubitemid 21916948)
5. Cianchetti M, Mattoli V, Mazzolai B, et al. A new design methodology of electrstrictive actuators for bio-inspired robotics. Sensors and Actuators B. 2009 ; 142 (1). 288-297
6. Feinberg AW, Feigel A, Shevkoplyas SS, et al. Muscular thin films for building actuators and powering devices. Science. 2007 ; 317 (5843). 1366-1370 (Pubitemid 47417472)
7. Garrey WE, Moore AR. Peristalsis and coordination in the earthworm. American Journal of Physiology. 1915 ; 39 (2). 139-148
8. Gray J. Studies in animal locomotion VIII. The kinetics of locomotion of Nereis diversicolor. Journal of Experimental Biology. 1939 ; 16 (1). 9-17
9. Guo ZV, Mahadevan L. Limbless undulatory propulsion on land. Proceedings of the National Academy of Sciences USA (PNAS). 2008 ; 105: 3179-3184 (Pubitemid 351723528)
10. Ilievski F, Mazzeo AD, Shepherd RF, et al. Soft robotics for chemists. Angewandte Chemie. 2011 ; 123 (8). 1930-1935
11. Lin HT, Leisk GG, Trimmer B. GoQBot: a caterpillar-inspired soft-bodied rolling robot. Bioinspiration and Biomimetics. 2011 ; 6 (2). 026007
12. Majidi C, O'Reilly OM, Williams JA. On the stability of a rod adhering to a rigid surface: shear-induced stable adhesion and the instability of peeling. Journal of Mechanics and Physics of Solids. 2012 ; 60: 827-843
13. Maladen RD, Ding Y, Li C, et al. Undulatory swimming in sand: subsurface locomotion of the sandfish lizard. Science. 2009 ; 325: 314-318
14. Morin SA, Shepherd RF, Kwok SW, et al. Camouflage and display for soft machines. Science. 2012 ; 337 (6096). 828-832
15. Nawroth JC, Lee H, Feinberg AW, et al. A tissue-engineered jellyfish with biomimetic propulsion. Nature Biotechnology. 2012 ; 30 (8). 792-797
16. Persson BNJ Sliding Friction: Physical Principles and Applications. Berlin: Springer ; 2000: 101-161.
17. Qin D, Xia Y, Whitesides GM. Soft lithography for micro- and nanoscale patterning. Nature Protocols. 2010 ; 5 (3). 491-502
18. Quake SR, Scherer A. From micro- to nanofabrication with soft materials. Science. 2000 ; 290 (5496). 1536-1540
19. Seok S, Onal CD, Wood R, et al. Peristaltic locomotion with antagonistic actuators in soft robotics. IEEE international conference on robotics and automation (ICRA) ; 2010 Anchorage, Alaska, USA ; 2010. 1228.
20. Shen XN, Sznitman J, Krajacic P, et al. Undulatory locomotion of Caenorhabditis elegans on wet surfaces. Biophysical Journal. 2012 ; 102: 2772-2781
21. Shepherd RF, Ilievski F, Choi W, et al. Multigait soft robot. Proceedings of the National Academy of Sciences USA. 2011 ; 108 (51). 20400-20403
22. Suzumori K, Iikura S, Tanaka H. Development of flexible microactuator and its applications to robotic mechanisms. IEEE international conference on robotics and automation (ICRA) ; 1991 Sacramento, California, USA ; 1991. 1622.
23. Suzumori K, Endo S, Kanda T, et al. A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. IEEE international conference on robotics and automation (ICRA) ; 2007 Rome, Italy ; 2007. 4975.
24. Xia Y, Whitesides GM. Soft lithography. Annual Review of Material Science. 1998 ; 28: 153-184 (Pubitemid 128631417)
25. Yeom SW, Oh IK. A biomimetic jellyfish robot based on ionic polymer metal comopsite actuators. Smart Materials and Structures. 2009 ; 18 (8). 085002
26. Yoshizawa H, Chen YL, Israelachvili J. Fundamental mechanisms of interfacial friction. 1. Relation between adhesion and friction. Journal of Physical Chemistry. 1993 ; 97: 4128-4140