Please use this identifier to cite or link to this item: https://doi.org/10.15480/882.2965
Publisher DOI: 10.3791/61422
Title: Manufacturing, control, and performance evaluation of a gecko-inspired soft robot
Language: English
Authors: Schiller, Lars  
Seibel, Arthur 
Schlattmann, Josef 
Issue Date: 1-Jun-2020
Source: Journal of Visualized Experiments 160 (2020): e61422, 1-15 (2020-06-01)
Journal or Series Name: JoVE 
Abstract (english): 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.
URI: http://hdl.handle.net/11420/7485
DOI: 10.15480/882.2965
ISSN: 1940-087X
Institute: Laser- und Anlagensystemtechnik G-2 
Type: (wissenschaftlicher) Artikel
License: CC BY-NC-ND 3.0 (Attribution-NonCommercial-NoDerivatives) CC BY-NC-ND 3.0 (Attribution-NonCommercial-NoDerivatives)
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