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Manufacturing, control, and performance evaluation of a gecko-inspired soft robot
Citation Link: https://doi.org/10.15480/882.2965
Publikationstyp
Journal Article
Date Issued
2020-06-01
Sprache
English
Author(s)
Institut
TORE-DOI
TORE-URI
Journal
Volume
2020
Issue
160
Start Page
1
End Page
15
Article Number
e61422
Citation
Journal of Visualized Experiments 160 (2020): e61422 (2020-06-01)
Publisher DOI
Scopus ID
PubMed ID
32597869
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.
DDC Class
600: Technik
Publication version
publishedVersion
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