Biomimetic quadrupedal soft robot using origami cylinder actuator

Jinho Kim; Youngsu Cha

doi:10.1117/12.3010069

9 May 2024 Biomimetic quadrupedal soft robot using origami cylinder actuator

Jinho Kim, Youngsu Cha

Proceedings Volume 12944, Bioinspiration, Biomimetics, and Bioreplication XIV; 1294405 (2024) https://doi.org/10.1117/12.3010069
Event: SPIE Smart Structures + Nondestructive Evaluation, 2024, Long Beach, California, United States

Abstract

In this study, a biomimetic quadrupedal robot with origami cylinder actuators as legs is introduced. The quadrupedal robot mimicked locomotion of four-legged animals. The robot had Kresling-patterned origami actuator as legs and adopted a bounding gait for the locomotion. A tendon-driven actuation method was utilized for the movement of the origami actuators. The origami actuators were controlled via predefined operation signals for the bounding gait. An operating condition is defined heuristically, by conducting tests in various conditions. At the operating condition, the robot moved as the speed of 0.28 body length per second.

Conference Presentation

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jinho Kim and Youngsu Cha "Biomimetic quadrupedal soft robot using origami cylinder actuator", Proc. SPIE 12944, Bioinspiration, Biomimetics, and Bioreplication XIV, 1294405 (9 May 2024); https://doi.org/10.1117/12.3010069

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