Design and Analysis of a Soft Actuator for a Three-legged Soft Robot

DOI

10.2991/ame-17.2017.70How to use a DOI?

Keywords

Soft actuator, Soft robot, Flexible manipulator, Soft materials.

Abstract

Due to a multitude of potential applications in safe interaction with human co-workers, soft robotic manipulators have attracted attention from researchers in recent years. However, it is difficult to model a soft robot because of the flexibility of soft materials, which has limited its applications. This paper presents a modelling method for a pneumatic soft actuator based on matrix displacement method. Kinematics of a sample soft actuator is analyzed and the performance of the actuator is tested by experiments. This paper also describes the potential use of the proposed soft actuator in a three-legged soft robot.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yu Miao
AU  - Zhi-Jiang Du
AU  - Wei Dong
PY  - 2017/04
DA  - 2017/04
TI  - Design and Analysis of a Soft Actuator for a Three-legged Soft Robot
BT  - Proceedings of the 3rd Annual International Conference on Advanced Material Engineering (AME 2017)
PB  - Atlantis Press
SP  - 429
EP  - 434
SN  - 2352-5401
UR  - https://doi.org/10.2991/ame-17.2017.70
DO  - 10.2991/ame-17.2017.70
ID  - Miao2017/04
ER  -