3 accepted papers
Inspired by the inchworm locomotion mechanism, this paper presents our recently developed self-deformable capsule-like robot. The robot has the actuated deformation capability that relies on a novel rigid elements-based morphing structure (REMS) and its soft actuation mechanisms. When the robot defo…
This paper presents the design, fabrication, modeling, and performance characterization of a new 3D-printed ionic polymer-metal composite (IPMC) soft crawling robot. First, a precursor to an ionomeric polymer material (Nafion) is used to 3D print modular leg and body sections to create a caterpillar…
Inspired by natural earthworm locomotion behavior and segmental muscle motion mechanism, this paper presents our recently developed compliant modular earthwormlike robot with the novel segmental muscle-mimetic design unit that is capable of efficiently mimicking earthworms' segmental muscle contract…