manufacturing-control-performance-evaluation-gecko-inspired-soft

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

Hamburg University of Technology

Soft robotics is an emerging field in the robotics community which deals with completely new types of robots. However, often new soft robotic designs depend on the ingenuity of the engineer rather being systematically derived. For this reason, in order to support the engineer in the design process, we present a design methodology for general technical systems in this paper and explain it in depth in the context of soft robotics. The design methodology consists of a combination of state-of-the-art engineering concepts that are arranged in such a way that the engineer is guided through the design process. The effectiveness of a systematic approach in soft robotics is illustrated on the design of a new gecko-inspired, climbing soft robot.

Systematic engineering design helps creating new soft machines.

In this paper, we present a gecko-inspired soft robot that is able to climb inclined, flat surfaces. By changing the design of the previous version, the energy consumption of the robot could be reduced, and at the same time, its ability to climb and its speed of movement could be increased. As a result, the new prototype consumes only about a third of the energy of the previous version and manages to climb slopes of up to 84°. In the horizontal plane, its velocity could be increased from 2 to 6 cm/s. We also provide a detailed analysis of the robot's straight gait.

Article	Year
Systematic engineering design helps creating new soft machines. Robotics and biomimetics\| PubMed ID: 30416935	2018
Toward a Gecko-Inspired, Climbing Soft Robot. Frontiers in neurorobotics\| PubMed ID: 31956304	2019

Lars Schiller

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