Locomotion of inchworm-inspired robot made of smart soft composite (SSC)
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Wang, Wei | - |
dc.contributor.author | Lee, Jang-Yeob | - |
dc.contributor.author | Rodrigue, Hugo | - |
dc.contributor.author | Song, Sung-Hyuk | - |
dc.contributor.author | Chu, Won-Shik | - |
dc.contributor.author | Ahn, Sung-Hoon | - |
dc.date.accessioned | 2022-07-16T01:18:42Z | - |
dc.date.available | 2022-07-16T01:18:42Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2014-12 | - |
dc.identifier.issn | 1748-3182 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158349 | - |
dc.description.abstract | A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot's locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot's stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s(-1), a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IOP PUBLISHING LTD | - |
dc.title | Locomotion of inchworm-inspired robot made of smart soft composite (SSC) | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Wang, Wei | - |
dc.identifier.doi | 10.1088/1748-3182/9/4/046006 | - |
dc.identifier.scopusid | 2-s2.0-84913555484 | - |
dc.identifier.wosid | 000346316200007 | - |
dc.identifier.bibliographicCitation | BIOINSPIRATION & BIOMIMETICS, v.9, no.4, pp.1 - 11 | - |
dc.relation.isPartOf | BIOINSPIRATION & BIOMIMETICS | - |
dc.citation.title | BIOINSPIRATION & BIOMIMETICS | - |
dc.citation.volume | 9 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 11 | - |
dc.type.rims | ART | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Materials Science | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Engineering, Multidisciplinary | - |
dc.relation.journalWebOfScienceCategory | Materials Science, Biomaterials | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | Alloys | - |
dc.subject.keywordPlus | Animals | - |
dc.subject.keywordPlus | Biomimetics | - |
dc.subject.keywordPlus | Computer Simulation | - |
dc.subject.keywordPlus | Computer-Aided Design | - |
dc.subject.keywordPlus | Equipment Design | - |
dc.subject.keywordPlus | Equipment Failure Analysis | - |
dc.subject.keywordPlus | Extremities | - |
dc.subject.keywordPlus | Gait | - |
dc.subject.keywordPlus | Hardness | - |
dc.subject.keywordPlus | Locomotion | - |
dc.subject.keywordPlus | Manufactured Materials | - |
dc.subject.keywordPlus | Models, Biological | - |
dc.subject.keywordPlus | Moths | - |
dc.subject.keywordPlus | Biomimetics | - |
dc.subject.keywordPlus | Friction | - |
dc.subject.keywordPlus | Shape memory effect | - |
dc.subject.keywordPlus | alloy | - |
dc.subject.keywordPlus | Actuation patterns | - |
dc.subject.keywordPlus | Friction coefficients | - |
dc.subject.keywordPlus | Functional parts | - |
dc.subject.keywordPlus | Longitudinal muscles | - |
dc.subject.keywordPlus | Shape memory alloy wire | - |
dc.subject.keywordPlus | Sliding movements | - |
dc.subject.keywordPlus | Soft composite | - |
dc.subject.keywordPlus | Soft-bodied robots | - |
dc.subject.keywordPlus | analysis | - |
dc.subject.keywordPlus | animal | - |
dc.subject.keywordPlus | biological model | - |
dc.subject.keywordPlus | biomimetics | - |
dc.subject.keywordPlus | chemistry | - |
dc.subject.keywordPlus | computer aided design | - |
dc.subject.keywordPlus | computer simulation | - |
dc.subject.keywordPlus | device failure analysis | - |
dc.subject.keywordPlus | devices | - |
dc.subject.keywordPlus | equipment design | - |
dc.subject.keywordPlus | gait | - |
dc.subject.keywordPlus | hardness | - |
dc.subject.keywordPlus | limb | - |
dc.subject.keywordPlus | locomotion | - |
dc.subject.keywordPlus | materials | - |
dc.subject.keywordPlus | moth | - |
dc.subject.keywordPlus | physiology | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordAuthor | inchworm-inspired robot | - |
dc.subject.keywordAuthor | shape memory alloy | - |
dc.subject.keywordAuthor | smart soft composite | - |
dc.identifier.url | https://iopscience.iop.org/article/10.1088/1748-3182/9/4/046006 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.