Printable monolithic hexapod robot driven by soft actuator
Canh Toan Nguyen, Hoa Phung, Hosang Jung, Uikyum Kim, Tien Dat Nguyen, Junwoo Park, Hyungpil Moon, Ja Choon Koo
Abstract
Aiming to apply soft actuators in driving a walking robot, the design, fabrication and locomotion of a bio-inspired printable hexapod robot are studied. The robot mimics the insect's design and walking posture by driving six legs with alternating tripod gait which provides its locomotive adaptability on flat terrains. The versatile movements of the robot's leg are achieved by using soft and multiple degree-of-freedom actuators. The actuators are made by dielectric elastomers with a simple mechanism based on antagonistic configuration. By using 3D printing method, the actuator can be embedded into the frame of the robot and a control system is developed. Finally, the robot's locomotion is successfully demonstrated with variable speeds and stride lengths.
BibTeX
@inproceedings{icra2015_printablemonolit,
title = {Printable monolithic hexapod robot driven by soft actuator},
author = {Canh Toan Nguyen and Hoa Phung and Hosang Jung and Uikyum Kim and Tien Dat Nguyen and Junwoo Park and Hyungpil Moon and Ja Choon Koo and Hyouk Ryeol Choi},
booktitle = {ICRA 2015},
year = {2015}
}