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Item type:Publication, Access status: with files , Toward a gecko-inspired, climbing soft robotIn 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.Publicationtype: Journal ArticleScopus© Citations 28 241 270 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , A simple control strategy for increasing the soft bending actuator performance by using a pressure boostHigh-speed actuation of soft actuators requires high source pressure to transfer air as quickly as possible into the actuator. Allowing high source pressure and having the deformation angle as the only control input may allow faster actuation, but there is a risk of bursting when the actuator is prevented from reaching the desired angle, for example, due to an obstacle. The other option to control the actuator’s deformation is based on controlling the pressure. In this paper, we present a simple control strategy that uses an initial pressure boost in a pressure-based PID controller showing the same performance as in angle-based PID control. The performance improvement is demonstrated experimentally on a standard soft bending actuator and a gecko-inspired, climbing soft robot.Publicationtype: Conference Paper148 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Entwicklung eines Laufmusters und Entwurf einer weichen Laufmaschine nach biologischem VorbildDevelopment of a gait pattern and design of a soft robot according to a biological model: This paper presents the theoretical basis for the linear gait of a soft robot. This gait pattern is derived from the movement of a gecko. Furthermore, it is illustrated how the developed gait pattern can be realized in a soft machine.Publicationtype: Conference Paper44 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Integrated curvature sensing of soft bending actuators using inertial measurement unitsWe introduce a sensor concept for an integrated measurement of the curvature angle of soft bending actuators using inertial measurement units (IMUs). In particular, IMUs are placed at both ends of the soft bending actuator, and the integrated magnetic sensors are used for small and the integrated acceleration sensors for medium and large inclination angles of the soft actuator’s bending plane. The experimental results show absolute measurement errors of up to 20◦ for small and less than 5◦ for medium and large inclination angles. Furthermore, we investigate experimentally whether the assumption of a constant curvature in our sensor concept is still fulfilled when the soft bending actuator is loaded by an external force at its free end. The results indicate that this is the case for loading masses of up to 30 g at large inclination angles.Publicationtype: Conference Paper240