Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Zhu, Renjie1,2,3; Fan, Dongliang2; Wu, Wenyu4; He, Chongshan1; Xu, Guojie1,2; Dai, Jian S.3,5; Wang, Hongqiang1,2,3,6

2023-03-01

10.1002/aisy.202200301

ADVANCED INTELLIGENT SYSTEMS   Impact Factor & Quartile

2640-4567

Rigidity and softness are essential for robot motion and manipulation in various complex scenarios. To integrate these two contrary features, several variable-stiffness structures are investigated while requiring a longer processing time and more energy for switching from a stiffer to softer status, with only one status at a specific point in time. Inspired by the combined softness-rigidity hybrid property of desert iguanas' skin, the concept of an anisotropic stiffness structure is developed, which simultaneously possesses rigidity and softness properties in different directions, leading to the development of novel soft robots. This anisotropic stiffness structure comprises a silicone-paper composite with multiple superimposed origami patterns and has high stiffness and softness properties. The anisotropic stiffness structure is then constructed by developing three novel soft robots: a crawling robot capable of extending and contracting with a payload of 117 times its own weight, a multifunctional prosthetic hand capable of grasping fragile items with its soft side and lifting and crushing items with its hard side, and a snake robot capable of traveling with the soft side and extruding out with over 75% of its body length with the stiffer side.

anisotropic stiffness bioinspired origami soft robots

SCI

English

First ; Corresponding

National Key R&D Program of China[2022YFB4701200] ; National Natural Science Foundation of China[52275021] ; Science, Technology, and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004] ; Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)[K19313901]

Automation & Control Systems ; Computer Science ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics

WOS:000941932500001

WILEY

Web of Science

1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Guangdong, Peoples R China
2.Southern Univ Sci & Technol, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Guangdong, Peoples R China
3.Southern Univ Sci & Technol, Inst Robot, Shenzhen 518055, Guangdong, Peoples R China
4.Southern Univ Sci & Technol, Sch Syst Design & Intelligent Mfg, Shenzhen 518055, Guangdong, Peoples R China
5.Kings Coll London, Ctr Robot Res, Dept Engn, London WC2R 2LS, England
6.Southern Marine Sci & Engn Guangdong Lab Guangzho, Guangzhou 511458, Guangdong, Peoples R China

Zhu, Renjie,Fan, Dongliang,Wu, Wenyu,et al. Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana[J]. ADVANCED INTELLIGENT SYSTEMS,2023.

Zhu, Renjie.,Fan, Dongliang.,Wu, Wenyu.,He, Chongshan.,Xu, Guojie.,...&Wang, Hongqiang.(2023).Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana.ADVANCED INTELLIGENT SYSTEMS.

Zhu, Renjie,et al."Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana".ADVANCED INTELLIGENT SYSTEMS (2023).