A modular approach to soft robots

This paper describes a modular approach to creating soft robotic systems. The basis of these systems is an elastomeric actuation element powered by direct mechanical energy in the form of pressurized fluids. Fluidic elastomer actuators are fast and inexpensive to fabricate and offer safety and adapt...

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Bibliographic Details
Main Authors: Onal, C. D., Rus, D.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Batteries
Pneumatic systems
Robot kinematics
Robot sensing systems
Citations: Items that cite this one
Online Access:Request full text
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Summary:This paper describes a modular approach to creating soft robotic systems. The basis of these systems is an elastomeric actuation element powered by direct mechanical energy in the form of pressurized fluids. Fluidic elastomer actuators are fast and inexpensive to fabricate and offer safety and adaptability to robotic systems. Arrangements of these units can yield arbitrarily complex motions and achieve various functionalities. Actuation power can be generated on-board by a pneumatic battery, which harnesses the catalyzed chemical decomposition of hydrogen peroxide into oxygen gas, for mobile implementations. The modular nature of these robots enable distributed sensing and computation elements. Composition techniques of such soft robots are defined. Example systems are demonstrated and analyzed.
ISSN:2155-1774
2155-1782
DOI:10.1109/BioRob.2012.6290290