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

Research output: Journal contributionsJournal articlesResearchpeer-review

Authors

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.

Original languageEnglish
Article numbere61422
JournalJournal of Visualized Experiments
Volume2020
Issue number160
Pages (from-to)1-15
Number of pages15
ISSN1940-087X
DOIs
Publication statusPublished - 10.06.2020
Externally publishedYes

Bibliographical note

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

DOI

Recently viewed

Publications

  1. Using Multi-Label Classification for Improved Question Answering
  2. An Ecosystem Architecture Meta-Model for Supporting Ultra-Large Scale Digital Transformations
  3. MOLGEN-QSPR, a software package for the study of quantitative structure-property relationships.
  4. Systematic distributions of interaction strengths across tree interaction networks yield positive diversity–productivity relationships
  5. Microsimulation - A survey of principles, developments and applications
  6. Shepherds’ local knowledge and scientific data on the scavenging ecosystem service
  7. As cast microstructures on the mechanical and corrosion behaviour of ZK40 modified with Gd and Nd additions
  8. Practices and Policies from Spaces of Possibilities to Institutional Innovations
  9. Where pragmatics and dialectology meet: Introducing variational pragmatics
  10. EEG frequency tagging evidence of social interaction recognition
  11. Modeling High Aswan Dam Reservoir Morphology Using Remote Sensing to Reduce Evaporation
  12. Exports and productivity: A survey of the evidence from firm-level data
  13. Workforce age trends and projections
  14. »CO2 causes a hole in the atmosphere« Using laypeople’s conceptions as a starting point to communicate climate change
  15. Amplifying actions for food system transformation: insights from the Stockholm region
  16. CSR communication on corporate websites compared across continents
  17. "Introduction," communication +1
  18. Review of transit data sources
  19. Precrop functional group identity affects yield of winter barley but less so high carbon amendments in a mesocosm experiment
  20. A Developmental Trend in the Structure of Time-Estimation Performance
  21. Degrees of Integration
  22. Taming a Wicked Problem
  23. Embodiment of Science in Science Slams.
  24. How leaders’ diversity beliefs alter the impact of faultlines on team functioning