Abstract
In this work we present a soft crawler fabricated using a magneto-active elastomer. The crawler is controlled by an external magnetic field to produce two locomotion patterns: peristaltic and caterpillar crawling. Due to its structural simplicity, low mass, wirelessly controlled actuation and compliant body the design of this crawler has the potential to address the key challenges faced by existing crawling robots. Experimental data were gathered to evaluate the performance of the crawler locomotion in a pipe. The results validated the mathematical models proposed to estimate the distance traveled by the crawler. The crawler shows potential for use in exploration of confined spaces.
Highlights
Bio-inspired locomotion often shows advantageous performance over wheeled locomotion, for example on irregular terrain or unstable surfaces [1,2]
We propose a lightweight, soft crawler made of magneto-active elastomers (MAE), enabling the robot to crawl untethered within a pipe while being controlled using magnets on the outside of the tube
The discrepancy observed between the experimental value and both estimations might be due to the fact that when a MAE ellipsoid is deformed under an external magnetic field, its central axis is lifted up
Summary
Bio-inspired locomotion often shows advantageous performance over wheeled locomotion, for example on irregular terrain or unstable surfaces [1,2]. Crawling locomotion modes of limbless animals such as caterpillars and earth worms require minimal space. As such these bio-inspired locomotion modes are well suited to exploration of confined spaces, such as pipes [3,4,5] and complex environments, for example in infrastructure inspection tasks or medical applications. In this research we developed a soft crawler capable of two crawling mechanisms found in nature: peristalsis and caterpillar locomotion. The mechanisms presented in this research takes inspiration from the locomotion strategy of the earthworm and the Manduca sexta caterpillar larva which crawls by generating an anteriograde wave along its body [6]
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