NDLI: Peristaltic locomotion with antagonistic actuators in soft robotics

Content Provider	IEEE Xplore Digital Library
Author	Sangok Seok Onal, C.D. Wood, R. Rus, D. Sangbae Kim
Copyright Year	2010
Description	Author affiliation: Faculty member in School of Engineering and Applied Sciences at Harvard University, Cambridge, MA 02138, USA (Wood, R.) \|\| Faculty members in Massachusetts Institute of Technology, Cambridge, 02139, USA (Sangok Seok; Onal, C.D.; Rus, D.; Sangbae Kim)
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.
Starting Page	1228
Ending Page	1233
File Size	569421
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509542
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Robots Muscles Robotics and automation Robustness Testing Endoscopes Kinematics Prototypes USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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