A Worm-Inspired Robot Flexibly Steering on Horizontal and Vertical Surfaces
Source abstract
Abstract
Based on the motion principle of bionic earthworms, we designed and fabricated a novel crawling robot driven by pneumatic power. Its structure is divided into four segments, and its motion process is periodic with high stability. Due to the pneumatic suction cups mounted on its feet, it is able to crawl on smooth horizontal, inclined, or vertical walls. On this basis, we designed a novel underactuated steering mechanism. Through the tendons on both sides and the springs installed on the side of the robot, we accurately controlled the steering motion of the robot. We analyzed the steering process in detail, calculated the influence of external parameters on the steering process of the robot, and simulated the trajectory of the robot in the steering process. The experimental results validated our analysis. In addition, we calculate the maximum thrust that each segment of the robot can provide, and determine the maximum load that the robot can bear during climbing motions.
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Research context
OpenAlex topics: Modular Robots and Swarm Intelligence · Soft Robotics and Applications · Micro and Nano Robotics
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Key Laboratory for Advanced Materials Processing Technology (MOE), Tsinghua University, Beijing 100084, China
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
References (22)
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