A pipe-climbing soft robot

Gaurav Singh; Sreekalyan Patiballa; Xiaotian Zhang; Girish Krishnan

doi:10.1109/ICRA.2019.8793815

A pipe-climbing soft robot

Gaurav Singh, Sreekalyan Patiballa, Xiaotian Zhang, Girish Krishnan

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

32 Citations (Scopus)

Abstract

This paper presents the design and testing of a bio-inspired soft pneumatic robot that can achieve locomotion along the outside of a cylinder. The robot uses soft pneumatic actuators called FREEs (Fiber Reinforced Elastomeric Enclosure), which can have a wide range of deformation behavior upon pressurization. The robot being soft and compliant can grasp and move along cylinders of varying dimensions. Two different types of FREEs are used in the robot namely (a) extending FREEs and (b) bending FREEs. These actuators are arranged in such a way that the bending actuators are used to grip the pipe while the extending actuators generate forward motion as well as bending for direction control. The modular design of the robot provides simplicity and ease of maintenance. The entire robot is made of flexible actuators and can withstand external impact with minimal to no damage. The maximum speed achieved for horizontal motion is 4.2 mm/s and for vertical motion is 2.1 mm/s.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8450-8456
Number of pages	7
ISBN (Electronic)	9781538660270
ISBN (Print)	9781538681763
DOIs	https://doi.org/10.1109/ICRA.2019.8793815
Publication status	Published - 12 Aug 2019
Externally published	Yes
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729
ISSN (Electronic)	2577-087X

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Soft robotics
Crawling Robot
Artificial muscles
McKibben muscles

Access to Document

10.1109/ICRA.2019.8793815

Cite this

@inproceedings{af962260b4404765984caf341ce42098,

title = "A pipe-climbing soft robot",

abstract = "This paper presents the design and testing of a bio-inspired soft pneumatic robot that can achieve locomotion along the outside of a cylinder. The robot uses soft pneumatic actuators called FREEs (Fiber Reinforced Elastomeric Enclosure), which can have a wide range of deformation behavior upon pressurization. The robot being soft and compliant can grasp and move along cylinders of varying dimensions. Two different types of FREEs are used in the robot namely (a) extending FREEs and (b) bending FREEs. These actuators are arranged in such a way that the bending actuators are used to grip the pipe while the extending actuators generate forward motion as well as bending for direction control. The modular design of the robot provides simplicity and ease of maintenance. The entire robot is made of flexible actuators and can withstand external impact with minimal to no damage. The maximum speed achieved for horizontal motion is 4.2 mm/s and for vertical motion is 2.1 mm/s.",

keywords = "Soft robotics, Crawling Robot, Artificial muscles, McKibben muscles",

author = "Gaurav Singh and Sreekalyan Patiballa and Xiaotian Zhang and Girish Krishnan",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

year = "2019",

month = aug,

day = "12",

doi = "10.1109/ICRA.2019.8793815",

language = "English",

isbn = "9781538681763",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "8450--8456",

booktitle = "2019 International Conference on Robotics and Automation, ICRA 2019",

}

Singh, G, Patiballa, S, Zhang, X & Krishnan, G 2019, A pipe-climbing soft robot. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793815, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 8450-8456, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793815

A pipe-climbing soft robot. / Singh, Gaurav; Patiballa, Sreekalyan; Zhang, Xiaotian et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 8450-8456 8793815 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - A pipe-climbing soft robot

AU - Singh, Gaurav

AU - Patiballa, Sreekalyan

AU - Zhang, Xiaotian

AU - Krishnan, Girish

PY - 2019/8/12

Y1 - 2019/8/12

N2 - This paper presents the design and testing of a bio-inspired soft pneumatic robot that can achieve locomotion along the outside of a cylinder. The robot uses soft pneumatic actuators called FREEs (Fiber Reinforced Elastomeric Enclosure), which can have a wide range of deformation behavior upon pressurization. The robot being soft and compliant can grasp and move along cylinders of varying dimensions. Two different types of FREEs are used in the robot namely (a) extending FREEs and (b) bending FREEs. These actuators are arranged in such a way that the bending actuators are used to grip the pipe while the extending actuators generate forward motion as well as bending for direction control. The modular design of the robot provides simplicity and ease of maintenance. The entire robot is made of flexible actuators and can withstand external impact with minimal to no damage. The maximum speed achieved for horizontal motion is 4.2 mm/s and for vertical motion is 2.1 mm/s.

AB - This paper presents the design and testing of a bio-inspired soft pneumatic robot that can achieve locomotion along the outside of a cylinder. The robot uses soft pneumatic actuators called FREEs (Fiber Reinforced Elastomeric Enclosure), which can have a wide range of deformation behavior upon pressurization. The robot being soft and compliant can grasp and move along cylinders of varying dimensions. Two different types of FREEs are used in the robot namely (a) extending FREEs and (b) bending FREEs. These actuators are arranged in such a way that the bending actuators are used to grip the pipe while the extending actuators generate forward motion as well as bending for direction control. The modular design of the robot provides simplicity and ease of maintenance. The entire robot is made of flexible actuators and can withstand external impact with minimal to no damage. The maximum speed achieved for horizontal motion is 4.2 mm/s and for vertical motion is 2.1 mm/s.

KW - Soft robotics

KW - Crawling Robot

KW - Artificial muscles

KW - McKibben muscles

UR - https://www.webofscience.com/wos/woscc/full-record/WOS:000494942306029

UR - https://www.scopus.com/pages/publications/85071497329

U2 - 10.1109/ICRA.2019.8793815

DO - 10.1109/ICRA.2019.8793815

M3 - Conference Paper published in a book

AN - SCOPUS:85071497329

SN - 9781538681763

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 8450

EP - 8456

BT - 2019 International Conference on Robotics and Automation, ICRA 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 International Conference on Robotics and Automation, ICRA 2019

Y2 - 20 May 2019 through 24 May 2019

ER -

A pipe-climbing soft robot

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this