| Title | A minimally designed soft crawling robot for robust locomotion in unstructured pipes |
| Author | |
| Corresponding Author | Yuan, Hongyan |
| Publication Years | 2022-09-01
|
| DOI | |
| Source Title | |
| ISSN | 1748-3182
|
| EISSN | 1748-3190
|
| Volume | 17Issue:5 |
| Abstract | Soft robots have attracted increasing attention due to their excellent versatility and broad applications. In this article, we present a minimally designed soft crawling robot (SCR) capable of robust locomotion in unstructured pipes with various geometric/material properties and surface topology. In particular, the SCR can squeeze through narrow pipes smaller than its cross section and propel robustly in spiked pipes. The gait pattern and locomotion mechanism of this robot are experimentally investigated and analysed by the finite element analysis, revealing that the resultant forward frictional force is generated due to the asymmetric mechanical properties along the length direction of the robot. The proposed simple yet working SCR could inspire novel designs and applications of soft robots in unstructured narrow canals such as large intestines or industrial pipelines. |
| Keywords | |
| URL | [Source Record] |
| Indexed By | |
| Language | English
|
| SUSTech Authorship | First
; Corresponding
|
| Funding Project | National Natural Science Founda tion of China["12072143","12172160"]
; Stable Support Plan Program of Shenzhen Natural Science Fund[20200925155345003]
; Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS202106 23092005017]
|
| WOS Research Area | Engineering
; Materials Science
; Robotics
|
| WOS Subject | Engineering, Multidisciplinary
; Materials Science, Biomaterials
; Robotics
|
| WOS Accession No | WOS:000821659300001
|
| Publisher | |
| EI Accession Number | 20223012387541
|
| EI Keywords | Machine design
; Pipelines
|
| ESI Classification Code | Mechanical Design:601
; Pipe, Piping and Pipelines:619.1
; Robotics:731.5
|
| Data Source | Web of Science
|
| Citation statistics |
Cited Times [WOS]:1
|
| Document Type | Journal Article |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/355861 |
| Department | Department of Mechanics and Aerospace Engineering |
| Affiliation | 1.Southern Univ Sci & Technol, Dept Mech & Aerosp Engn, Shenzhen Key Lab Soft Mech & Smart Mfg, Shenzhen 518055, Peoples R China 2.Case Western Reserve Univ, Dept Mech & Aerosp Engn, Lab Soft Machines & Elect, Cleveland, OH 44106 USA |
| First Author Affilication | Department of Mechanics and Aerospace Engineering |
| Corresponding Author Affilication | Department of Mechanics and Aerospace Engineering |
| First Author's First Affilication | Department of Mechanics and Aerospace Engineering |
| Recommended Citation GB/T 7714 |
Yu, Wenkai,Li, Xin,Chen, Dunyu,et al. A minimally designed soft crawling robot for robust locomotion in unstructured pipes[J]. Bioinspiration & Biomimetics,2022,17(5).
|
| APA |
Yu, Wenkai.,Li, Xin.,Chen, Dunyu.,Liu, Jingyi.,Su, Jiaji.,...&Yuan, Hongyan.(2022).A minimally designed soft crawling robot for robust locomotion in unstructured pipes.Bioinspiration & Biomimetics,17(5).
|
| MLA |
Yu, Wenkai,et al."A minimally designed soft crawling robot for robust locomotion in unstructured pipes".Bioinspiration & Biomimetics 17.5(2022).
|
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