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An Untethered Soft Robotic Dog Standing and Fast Trotting with Jointless and Resilient Soft Legs.
Li, Yunquan; Li, Yujia; Ren, Tao; Xia, Jiutian; Liu, Hao; Wu, Changchun; Lin, Senyuan; Chen, Yonghua.
Afiliación
  • Li Y; Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510641, China.
  • Li Y; School of Mechanical and Electrical Engineering, Chengdu University of Technology, Chengdu 610059, China.
  • Ren T; School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China.
  • Xia J; Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510641, China.
  • Liu H; Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China.
  • Wu C; Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China.
  • Lin S; Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China.
  • Chen Y; Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, China.
Biomimetics (Basel) ; 8(8)2023 Dec 08.
Article en En | MEDLINE | ID: mdl-38132535
ABSTRACT
Soft robots are compliant, impact resistant, and relatively safe in comparison to hard robots. However, the development of untethered soft robots is still a major challenge because soft legs cannot effectively support the power and control systems. Most untethered soft robots apply a crawling or walking gait, which limits their locomotion speed and mobility. This paper presents an untethered soft robot that can move with a bioinspired dynamic trotting gait. The robot is driven by inflatable soft legs designed on the basis of the pre-charged pneumatic (PCP) actuation principle. Experimental results demonstrate that the developed robot can trot stably with the fastest speed of 23 cm/s (0.97 body length per second) and can trot over different terrains (slope, step, rough terrain, and natural terrains). The robotic dog can hold up to a 5.5 kg load in the static state and can carry up to 1.5 kg in the trotting state. Without any rigid components inside the legs, the developed robotic dog exhibits resistance to large impacts, i.e., after withstanding a 73 kg adult (46 times its body mass), the robotic dog can stand up and continue its trotting gait. This innovative robotic system has great potential in equipment inspection, field exploration, and disaster rescue.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: Biomimetics (Basel) Año: 2023 Tipo del documento: Article País de afiliación: China Pais de publicación: Suiza
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: Biomimetics (Basel) Año: 2023 Tipo del documento: Article País de afiliación: China Pais de publicación: Suiza