Geometric Gait Design for a Starfish‐Inspired Robot Using a Planar Discrete Elastic Rod Model

Geometric Gait Design for a Starfish‐Inspired Robot Using a Planar Discrete Elastic Rod Model

A starfish‐inspired robotic platform consisting of multiple soft fluidic bending actuator arms arranged with radial symmetry about a rigid hub is described. Intrinsic properties of the soft actuators are estimated via computer vision for varying input fluid pressures. The dynamic motion of individua...

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Bibliographic Details
Main Authors: William L. Scott, Derek A. Paley
Format: Article
Language:English
Published: Wiley 2020-06-01
Series:Advanced Intelligent Systems
Subjects:
feedback controls
fluidic soft actuators
legged locomotions
motion plannings
soft robotics
Online Access:https://doi.org/10.1002/aisy.201900186

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