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, Vol. 2020, No. 160, e61422, 10.06.2020, p. 1-15.Research output: Journal contributions › Journal articles › Research › peer-review
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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 -