Title :
Worms, waves and robots
Author :
Boxerbaum, Alexander S. ; Horchler, Andrew D. ; Shaw, Kendrick M. ; Chiel, Hillel J. ; Quinn, Roger D.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
The Biologically Inspired Robotics group at Case Western Reserve University has developed several innovative designs for a new kind of robot that uses peristalsis, the method of locomotion used by earthworms. Unlike previous wormlike robots, our concept uses a continuously deformable outer mesh that interpolates the body position between discrete actuators. Here, we summarize our progress with this soft hyper-redundant robot.
Keywords :
medical robotics; mobile robots; Case Western Reserve University; biologically inspired robotics; discrete actuators; earthworms; innovative designs; locomotion method; soft hyperredundant robot; waves; wormlike robots; Actuators; Educational institutions; Grippers; Muscles; Robot kinematics; Robot sensing systems;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224805
