Dataset Information

Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.

ABSTRACT: Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric-pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions-stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.

SUBMITTER: Silva AB

PROVIDER: S-EPMC10968154 | biostudies-literature | 2024 Mar

REPOSITORIES: biostudies-literature

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Publications

Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.

Silva Alessandro Brugnera AB Murcia Marc M Mohseni Omid O Takahashi Ryu R Forner-Cordero Arturo A Seyfarth Andre A Hosoda Koh K Sharbafi Maziar Ahmad MA

Biomimetics (Basel, Switzerland) 20240307 3

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric-pneumatic actuation (EPA), we present the mechanical and electrical desi ...[more]

PMID: 38534849

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Project description:IntroductionBiomimetic soft pneumatic actuators (SPA) with Kresling origami patterns have unique advantages over conventional rigid robots, owing to their adaptability and safety.ObjectivesInspired by cloning and moving behaviors observed from salps, we proposed an SPA based on a Kresling-like pattern with a rigid skeleton. The elongation and output force were tested, and the effectiveness of the applications with the SPA was evaluated.MethodsThe proposed SPA consists of rigid skeletons and a soft skin. The rigid skeletons are constructed using layers of Kresling-like patterns, while a novel extensible inserting structure is devised to replace the folds found in conventional Kresling patterns. This innovative approach ensures that the SPA exhibits axial contraction/expansion motion without any twisting movement. To mimic the bionic characteristics of swimming and ingesting progress of salps, the proposed SPA can perform an axial contraction motion without twisting and a controllable bending motion based on multi-layered Kresling-like patterns; to mimic the cloning and releasing life phenomena of salps, the number of layers of Kresling-like patterns is changeable by adding or reducing skeleton components according to the practical needs.ResultsThe experimental elongation results on the SPA with multiple layers of Kresling-like patterns show that the elongation can increase to above 162% by adding layers; the experimental output force results show that the three-layer SPA can provide 6.36 N output force at an air flow rate of 10 L/min, and the output force will continue to increase as the number of layers of Kresling-like pattern increases or the air flow rate increases. Further, we demonstrate the applications of the SPA in soft grippers, scissor grippers, claw grippers and pipe crawlers.ConclusionOur proposed SPA can avoid twisting in the radial contraction motion with high elongation and output force, and provide the practical guidance for bio-inspired soft robotic applications.

Dataset Information

Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.

Publications

Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.

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