Compared with rigid robots, soft robots have the advantages of strong environmental adaptability, good human-robot interaction, and simple control systems; therefore, actuators been widely studied in recent years. Based on DLP 3D printing technology, this study makes three kinds pneumatic actuators: gripper auxetic structure, Elongation Bellow Actuator (EBA) Omnidirectional Bending (OBBA). Thro...

A robot capable of operating in active pipelines would be of great commercial and industrial benefit. This paper outlines the requirements for such a robot and considers the advantages and disadvantages of existing systems. A new design for an inchworm robot based on the Gough-Stewart parallel platform is presented. The use of inchworm locomotion keeps the control system relatively simple, whil...

In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalinte...

This paper discusses biomechanical issues that are related to the locomotion of a robotic endoscope in the human small intestine. The robot propels itself by pushing against the intestinal walls much like a pipe crawler. However, the small intestine is not a rigid pipe, and locomotion in it is further complicated by the fact that the bowel is susceptible to damage. With the goal of engineering ...

pheric and Planetary Sciences, Hampton University, Hampton, Virginia 23668, USA ([email protected]). National Institute of Aerospace, Hampton, Virginia 23666, USA. Center for Isotope Cosmochemistry and Geochronology, ARES, NASA-JSC, Houston, TX 77058, USA ([email protected]). Department of Geology and Geophysics, Louisiana State University, Baton Rouge, Louisiana 70803, USA (aagwebb@g...

To explore pipelines is one of various bio-mimetic robot applications. The robot may work in common buildings such as between ceilings and ducts, in addition to complicated and massive pipeline systems of large industrial plants. The bio-mimetic robot finds any troubled area or malfunction and then reports its data. Importantly, it can not only prepare for but also react to any abnormal routes ...