TY - GEN
T1 - A novel bioinspired hexapod robot developed by soft dielectric elastomer actuators
AU - Nguyen, Canh Toan
AU - Phung, Hoa
AU - Hoang, Phi Tien
AU - Dat Nguyen, Tien
AU - Jung, Hosang
AU - Moon, Hyungpil
AU - Koo, Ja Choon
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - This paper presents a hexapod crawling robot which has bioinspired design and locomotion posture from the insects. The robot, called S-Hex II, is an upgraded version of the different printable monolithic hexapod robot which is named as S-Hex I. The S-Hex II is studied for the project of developing mesoscale walking robots actuated by the soft dielectric elastomer actuators. In comparison with the S-Hex I, the S-Hex II owns smaller dimension, lighter weight, and significantly faster walking speed. We improve and increase the total number of degree-of-freedom (DOF) of the soft dielectric elastomer actuators (DEAs) from three, used in the S-Hex I, up to five, employed in the S-Hex II, and that provides the promising versatile locomotion ability to the S-Hex II robot. This robot has successfully demonstrated the back and forth ambulation on flat surfaces using the alternating tripod gait with the walking speed of 52 mm/s (approximately 0.35 body-lengths per second) at 7 Hz of actuation frequency.
AB - This paper presents a hexapod crawling robot which has bioinspired design and locomotion posture from the insects. The robot, called S-Hex II, is an upgraded version of the different printable monolithic hexapod robot which is named as S-Hex I. The S-Hex II is studied for the project of developing mesoscale walking robots actuated by the soft dielectric elastomer actuators. In comparison with the S-Hex I, the S-Hex II owns smaller dimension, lighter weight, and significantly faster walking speed. We improve and increase the total number of degree-of-freedom (DOF) of the soft dielectric elastomer actuators (DEAs) from three, used in the S-Hex I, up to five, employed in the S-Hex II, and that provides the promising versatile locomotion ability to the S-Hex II robot. This robot has successfully demonstrated the back and forth ambulation on flat surfaces using the alternating tripod gait with the walking speed of 52 mm/s (approximately 0.35 body-lengths per second) at 7 Hz of actuation frequency.
UR - https://www.scopus.com/pages/publications/85041964779
U2 - 10.1109/IROS.2017.8206526
DO - 10.1109/IROS.2017.8206526
M3 - Conference contribution
AN - SCOPUS:85041964779
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6233
EP - 6238
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -