An Inchworm-inspired Robot Based on Modular Body, Electronics and Passive Friction Pads Performing the Two-anchor Crawl Gait
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Bionic Engineering"
DOI: 10.1007/s42235-018-0069-x
Abstract: We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm: (1) three-part body that is 3D printed… read more here.
Keywords: two anchor; passive friction; anchor crawl; crawl gait ... See more keywords
A self-adapting linear inchworm piezoelectric actuator based on a permanent magnets clamping structure
Sign Up to like & getrecommendations! Published in 2019 at "Mechanical Systems and Signal Processing"
DOI: 10.1016/j.ymssp.2019.06.032
Abstract: Abstract A self-adapting structure is proposed in this study to match the driving and clamping signals of piezoelectric inchworm actuators. The excitation signal generated from a pair of opposite type laser photoelectric sensors which detect… read more here.
Keywords: inchworm; self adapting; structure; permanent magnets ... See more keywords
Development of soft inchworm robot with friction control of feet using double-network gel
Sign Up to like & getrecommendations! Published in 2022 at "Advanced Robotics"
DOI: 10.1080/01691864.2022.2152291
Abstract: In this study, we investigate the development of an inchworm-inspired soft robot with active friction control of its feet. The focus is on its design, modeling, and locomotion principle. Friction control is achieved dynamically by… read more here.
Keywords: friction control; inchworm; control; inchworm robot ... See more keywords
Development and experiment evaluation of a compact inchworm piezoelectric actuator using three-jaw type clamping mechanism
Sign Up to like & getrecommendations! Published in 2022 at "Smart Materials and Structures"
DOI: 10.1088/1361-665x/ac59da
Abstract: A compact inchworm piezoelectric actuator using three-jaw type clamping mechanism is developed in this study. Different from the previous inchworm piezoelectric actuators constructed with guiding structures, the proposed actuator can drive an output shaft to… read more here.
Keywords: three jaw; inchworm; actuator; type clamping ... See more keywords
Asynchronous Control of a Prototype Inchworm Actuator: Control Design and Test Results
Sign Up to like & getrecommendations! Published in 2019 at "Actuators"
DOI: 10.3390/act8010020
Abstract: Inchworm actuators are innovative mechanisms that offer nanometer-level positioning coupled with extreme dynamic range. Because of this, they have found applications in optical instruments of various types including interferometers, segmented reflectors, and coronagraphs. In this… read more here.
Keywords: control; prototype inchworm; inchworm actuator; inchworm ... See more keywords
Design of a Magnetic Soft Inchworm Millirobot Based on Pre-Strained Elastomer with Micropillars
Sign Up to like & getrecommendations! Published in 2023 at "Biomimetics"
DOI: 10.3390/biomimetics8010022
Abstract: Rather than using longitudinal “muscle” as in biological inchworm, the existing magnetic active elastomer (MAE)-based inchworm robots utilize magnetic torque to pull and push the soft body, which hinders its locomotion mobility. In this paper,… read more here.
Keywords: magnetic inchworm; pre strained; inchworm; pre ... See more keywords