Document Type
Article
Publication Date
3-1-2019
Abstract
Soft-bodied animals, such as earthworms, are capable of contorting their body to squeeze through narrow spaces, create or enlarge burrows, and move on uneven ground. In many applications such as search and rescue, inspection of pipes and medical procedures, it may be useful to have a hollow-bodied robot with skin separating inside and outside. Textiles can be key to such skins. Inspired by earthworms, we developed two new robots: FabricWorm and MiniFabricWorm. We explored the application of fabric in soft robotics and how textile can be integrated along with other structural elements, such as three-dimensional (3D) printed parts, linear springs, and flexible nylon tubes. The structure of FabricWorm consists of one third the number of rigid pieces as compared to its predecessor Compliant Modular MeshWorm-Steering (CMMWorm-S), while the structure of MiniFabricWorm consists of no rigid components. This article presents the design of such a mesh and its limitations in terms of structural softness. We experimentally measured the stiffness properties of these robots and compared them directly to its predecessors. FabricWorm and MiniFabricWorm are capable of peristaltic locomotion with a maximum speed of 33 cm/min (0.49 body-lengths/min) and 13.8 cm/min (0.25 body-lengths/min), respectively.
Keywords
fabric-based robot, soft robotics, worm-like robot
Language
English
Publication Title
Biomimetics
Grant
1844463
Rights
© 2019 The Author(s). This is an Open Access work distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
Recommended Citation
Kandhari, A.; Mehringer, A.; Chiel, H.J.; Quinn, R.D.; Daltorio, K.A. Design and Actuation of a Fabric-Based Worm-Like Robot. Biomimetics 2019, 4, 13. https://doi.org/10.3390/biomimetics4010013
Manuscript Version
Final Publisher Version