Peristaltic Locomotion with Antagonistic Actuators in Soft Robotics
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Rus_Peristaltic locomotion.pdf
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Author(s)
Seok, Sangok
Onal, Cagdas
Wood, Robert
Rus, Daniela L.
Kim, Sangbae
Date Issued
July 2010
Journal
IEEE International Conference on Robotics and Automation 2010 (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Sangok Seok et al. “Peristaltic Locomotion with Antagonistic Actuators in Soft Robotics.” IEEE International Conference on Robotics and Automation 2010 (ICRA). 1228–1233. © Copyright 2010 IEEE
Version
Final published version
Abstract
This paper presents a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the unique antagonistic arrangement of radial/circular and longitudinal muscle groups of Oligochaeta. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structure with NiTi coil actuators. A numerical model for the mesh structure describes how peristaltic motion induces robust locomotion and details the deformation by the contraction of NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of locomotion speed. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impacts during locomotion. This approach can enable a completely soft robotic platform by employing a flexible control unit and energy sources.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. School of Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509542
