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Article: An Untethered Soft Robotic Dog Standing and Fast Trotting with Jointless and Resilient Soft Legs

TitleAn Untethered Soft Robotic Dog Standing and Fast Trotting with Jointless and Resilient Soft Legs
Authors
Keywordsimpact resistance
quadruped robot
soft robot
trotting gait
untethered system
Issue Date8-Dec-2023
PublisherMDPI
Citation
Biomimetics, 2023, v. 8, n. 8 How to Cite?
Abstract

Soft robots are compliant, impact resistant, and relatively safe in comparison to hard robots. However, the development of untethered soft robots is still a major challenge because soft legs cannot effectively support the power and control systems. Most untethered soft robots apply a crawling or walking gait, which limits their locomotion speed and mobility. This paper presents an untethered soft robot that can move with a bioinspired dynamic trotting gait. The robot is driven by inflatable soft legs designed on the basis of the pre-charged pneumatic (PCP) actuation principle. Experimental results demonstrate that the developed robot can trot stably with the fastest speed of 23 cm/s (0.97 body length per second) and can trot over different terrains (slope, step, rough terrain, and natural terrains). The robotic dog can hold up to a 5.5 kg load in the static state and can carry up to 1.5 kg in the trotting state. Without any rigid components inside the legs, the developed robotic dog exhibits resistance to large impacts, i.e., after withstanding a 73 kg adult (46 times its body mass), the robotic dog can stand up and continue its trotting gait. This innovative robotic system has great potential in equipment inspection, field exploration, and disaster rescue.


Persistent Identifierhttp://hdl.handle.net/10722/347166
ISSN
2023 Impact Factor: 3.4
2023 SCImago Journal Rankings: 0.562

 

DC FieldValueLanguage
dc.contributor.authorLi, Yunquan-
dc.contributor.authorLi, Yujia-
dc.contributor.authorRen, Tao-
dc.contributor.authorXia, Jiutian-
dc.contributor.authorLiu, Hao-
dc.contributor.authorWu, Changchun-
dc.contributor.authorLin, Senyuan-
dc.contributor.authorChen, Yonghua-
dc.date.accessioned2024-09-18T00:30:49Z-
dc.date.available2024-09-18T00:30:49Z-
dc.date.issued2023-12-08-
dc.identifier.citationBiomimetics, 2023, v. 8, n. 8-
dc.identifier.issn2313-7673-
dc.identifier.urihttp://hdl.handle.net/10722/347166-
dc.description.abstract<p>Soft robots are compliant, impact resistant, and relatively safe in comparison to hard robots. However, the development of untethered soft robots is still a major challenge because soft legs cannot effectively support the power and control systems. Most untethered soft robots apply a crawling or walking gait, which limits their locomotion speed and mobility. This paper presents an untethered soft robot that can move with a bioinspired dynamic trotting gait. The robot is driven by inflatable soft legs designed on the basis of the pre-charged pneumatic (PCP) actuation principle. Experimental results demonstrate that the developed robot can trot stably with the fastest speed of 23 cm/s (0.97 body length per second) and can trot over different terrains (slope, step, rough terrain, and natural terrains). The robotic dog can hold up to a 5.5 kg load in the static state and can carry up to 1.5 kg in the trotting state. Without any rigid components inside the legs, the developed robotic dog exhibits resistance to large impacts, i.e., after withstanding a 73 kg adult (46 times its body mass), the robotic dog can stand up and continue its trotting gait. This innovative robotic system has great potential in equipment inspection, field exploration, and disaster rescue.<br></p>-
dc.languageeng-
dc.publisherMDPI-
dc.relation.ispartofBiomimetics-
dc.subjectimpact resistance-
dc.subjectquadruped robot-
dc.subjectsoft robot-
dc.subjecttrotting gait-
dc.subjectuntethered system-
dc.titleAn Untethered Soft Robotic Dog Standing and Fast Trotting with Jointless and Resilient Soft Legs-
dc.typeArticle-
dc.identifier.doi10.3390/biomimetics8080596-
dc.identifier.scopuseid_2-s2.0-85180438063-
dc.identifier.volume8-
dc.identifier.issue8-
dc.identifier.eissn2313-7673-
dc.identifier.issnl2313-7673-

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