Controlling a peristaltic robot inspired by inchworms

Abstract

This study presents an innovative approach in soft robotics, focusing on an inchworm-inspired robot designed for enhanced transport capabilities. We explore the impact of various parameters on the robot’s performance, including the number of activated sections, object size and material, supplied air pressure, and command execution rate. Through a series of controlled experiments, we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g, significantly outperforming existing models in both speed and load capacity. Our findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport tasks. This research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object manipulation. The study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.

Keywords

• McKibben artificial muscles
• Bionics
• Soft robotics
• Soft actuator
• Bio-inspired robotics