Design of a modular inchworm-like crawling robot

Taoran Liu

doi:10.1117/12.2659068

23 November 2022 Design of a modular inchworm-like crawling robot

Taoran Liu

Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 1245415 (2022) https://doi.org/10.1117/12.2659068
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China

Abstract

As one of the long-standing topics in the field of soft robotics, soft crawling robots have many outstanding design achievements. At present, most of the software crawling robots adopt an integrated design. However, there are many problems in the actual use scene of the integrated design. Since the size of the body cannot be changed, the adaptive ability of the software structure cannot be maximized. This paper proposes a modular soft climbing robot, which uses the combination of a multi-chamber end effector and a single-chamber multi-chamber composite end effector to realize the modular construction of the robot. The movement process imitates the movement pattern of the inchworm, with the function of climbing vertically upwards and downwards. In this design, the number of body segments and the length of the gripper can be changed by increasing or decreasing the motion unit. Users can change the number of body segments and limb length of the soft crawling robot according to the conditions of use, which increases the environmental adaptability of the soft crawling robot. It can provide ideas for developing the application prospects of soft crawling robots.

Citation Download Citation

Taoran Liu "Design of a modular inchworm-like crawling robot", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 1245415 (23 November 2022); https://doi.org/10.1117/12.2659068

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