Biomimetic printable hexapod robot driven by soft actuator

This paper presents the preliminary design of a biomimetic printable hexapod robot driven by soft actuators. The robot mimics the insect's design with six legs and shows the capability of versatile locomotion on flat terrains by using alternating tripod gait. The soft and multiple degree-of-fre...

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Bibliographic Details
Published in2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 189 - 190
Main Authors Canh Toan Nguyen, Hoa Phung, Tien Dat Nguyen, Choonghan Lee, Uikyum Kim, Donghyouk Lee, Hyungpil Moon, Jachoon Koo, Jae-do Nam, Hyouk Ryeol Choi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2014
Subjects
Actuators
biomimetic hexapod
Dielectrics
Electrodes
Legged locomotion
Materials
printable robot
Prototypes
soft actuator
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Summary:This paper presents the preliminary design of a biomimetic printable hexapod robot driven by soft actuators. The robot mimics the insect's design with six legs and shows the capability of versatile locomotion on flat terrains by using alternating tripod gait. The soft and multiple degree-of-freedom (multi-DOF) actuators based on dielectric elastomer provide required motions of the robot with a simple mechanism based on antagonistic configuration. The fabrication of the robot is effectively implemented by 3D printing method. In addition, a control system is built to provide various locomotion and walking speeds for the robot and its operation is demonstrated.
DOI:10.1109/URAI.2014.7057528