A similar context occurs when critical infrastructures face threats or disruptions, for examples due to natural disasters or external attacks (physical or cyber). The ability of soft robots to safely interact and adapt to the surroundings is key to operate in unstructured environments, where the autonomous agent has little or no knowledge about the world around it. The paradigm change introduced by soft robotics is going to dramatically push forward the abilities of autonomous systems in the next future, enabling their applications in extremely challenging scenarios. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.
The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements.
PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. The results showed that the robotic root, with a diameter of 50 mm, grows with a speed of up to 4 mm/min, overcoming medium pressure of up to 37 kPa (i.e., it is able to lift up to 6 kg) and bending with a minimum radius of 100 mm. Experiments were performed in air and in an artificial medium to verify the functionalities and to evaluate the robot performance. In this article, we describe the design of the growing robot together with the modeling of the deposition process and the description of the implemented growing movement strategy. Taking advantage of these characteristics, the robotic roots are able to move inside a medium by growing their body. A differential deposition of the material can create an asymmetry that results in curvature of the built structure, providing the possibility of root bending to follow or escape from a stimulus or to reach a desired point in space. The growing head is a customized three-dimensional (3D) printer-like system that builds the tubular body of the root in the format of circular layers by fusing and depositing a thermoplastic material (i.e., polylactic acid filament) at the tip level, thus obtaining movement by growing. Each robotic root includes a tubular body, a growing head, and a sensorized tip that commands the robot behaviors. In particular, taking inspiration by the growing abilities of plant roots, we designed and developed a plant root-like robot that creates its body through an additive manufacturing process. If you can't provide a legal document, you won't be able to enter the server unless you do so.In this article, we present a novel class of robots that are able to move by growing and building their own structure.
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