Title :
Biomimetic printable hexapod robot driven by soft actuator
Author :
Canh Toan Nguyen ; Hoa Phung ; Tien Dat Nguyen ; Choonghan Lee ; Uikyum Kim ; Donghyouk Lee ; Hyungpil Moon ; Jachoon Koo ; Jae-do Nam ; Hyouk Ryeol Choi
Author_Institution :
Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
Abstract :
This paper presents the preliminary design of a biomimetic printable hexapod robot driven by soft actuators. The robot mimics the insect´s design with six legs and shows the capability of versatile locomotion on flat terrains by using alternating tripod gait. The soft and multiple degree-of-freedom (multi-DOF) actuators based on dielectric elastomer provide required motions of the robot with a simple mechanism based on antagonistic configuration. The fabrication of the robot is effectively implemented by 3D printing method. In addition, a control system is built to provide various locomotion and walking speeds for the robot and its operation is demonstrated.
Keywords :
actuators; biomimetics; elastomers; legged locomotion; motion control; velocity control; 3D printing method; alternating tripod gait; antagonistic configuration; biomimetic printable hexapod robot; dielectric elastomer; robot design; robot fabrication; robot locomotion; robot walking speed; soft actuator; Actuators; Dielectrics; Electrodes; Legged locomotion; Materials; Prototypes; biomimetic hexapod; printable robot; soft actuator;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057528
