Manufacturing, control, and performance evaluation of a Gecko-inspired soft robot

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Manufacturing, control, and performance evaluation of a Gecko-inspired soft robot. / Schiller, Lars; Seibel, Arthur; Schlattmann, Josef.

in: Journal of Visualized Experiments, Jahrgang 2020, Nr. 160, e61422, 10.06.2020, S. 1-15.

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

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Schiller L, Seibel A, Schlattmann J. Manufacturing, control, and performance evaluation of a Gecko-inspired soft robot. Journal of Visualized Experiments. 2020 Jun 10;2020(160):1-15. e61422. doi: 10.3791/61422

Bibtex

@article{3fe78699f05b4c41a9c3dcd17768e3ad,
title = "Manufacturing, control, and performance evaluation of a Gecko-inspired soft robot",
abstract = "This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84°. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (> 70°), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.",
keywords = "Engineering",
author = "Lars Schiller and Arthur Seibel and Josef Schlattmann",
note = "Publisher Copyright: {\textcopyright} 2020 JoVE Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.",
year = "2020",
month = jun,
day = "10",
doi = "10.3791/61422",
language = "English",
volume = "2020",
pages = "1--15",
journal = "Journal of Visualized Experiments",
issn = "1940-087X",
publisher = "MYJoVE Corporation",
number = "160",

}

RIS

TY - JOUR

T1 - Manufacturing, control, and performance evaluation of a Gecko-inspired soft robot

AU - Schiller, Lars

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - Publisher Copyright: © 2020 JoVE Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.

PY - 2020/6/10

Y1 - 2020/6/10

N2 - This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84°. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (> 70°), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

AB - This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84°. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (> 70°), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85087433502&partnerID=8YFLogxK

U2 - 10.3791/61422

DO - 10.3791/61422

M3 - Journal articles

C2 - 32597869

AN - SCOPUS:85087433502

VL - 2020

SP - 1

EP - 15

JO - Journal of Visualized Experiments

JF - Journal of Visualized Experiments

SN - 1940-087X

IS - 160

M1 - e61422

ER -

DOI