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Publication - Dr Andrew Conn

    A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle

    Citation

    Cao, C, Diteesawat, RS, Rossiter, J & Conn, AT, 2019, ‘A Reconfigurable Crawling Robot Driven by Electroactive Artificial Muscle’. in: IEEE International Conference on Soft Robotics (Robosoft 2019). Institute of Electrical and Electronics Engineers (IEEE), pp. 840-845

    Abstract

    In nature, inchworms can move freely on uneven terrains where conventional wheeled or tracked robots cannot. Emerging soft actuation technologies such as dielectric elastomer actuators (DEAs) offer a new approach for inchworm-inspired robot designs thanks to their large actuation strain and inherent compliance. In this work, we present a reconfigurable inchworm-inspired crawling robot driven by DEAs that demonstrates two different crawling modes: vibrational crawling and two-anchor crawling. This modular design combines the advantages of fast speed through the vibrational crawling motion and payload transportation capability of the two-anchor crawling motion. A single vibrating module shows a fast locomotion speed of 0.9 body length / second. When two of the robot modules are configured into a two-anchor crawling mode, this new configuration can carry a payload of up to 35% its body weight at a slower speed.

    Full details in the University publications repository