A Novel Sequential Activation Method for the Locomotion of Quadrupedal Soft Robots

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A Novel Sequential Activation Method for the Locomotion of Quadrupedal Soft Robots

Garcia Sampaio, Rafaela Aparecida / Lopes e Silva, Fabricio / de Souza de Carvalho, Cristiano / Barreto Haddad, Diego / Mattos Araujo, Gabriel / M. G. Franca, Felipe

Abstract

The absence of a general theory of how to control soft structures is the biggest challenge in soft robotics. In this work the application of Scheduling by Multiple Edge Reversal (SMER) as an artificial Central Pattern Generator (CPG) is proposed for the activation of soft quadrupedal robots. In order to evaluate the proposed application, a soft device was developed for the purpose of being tested as a robot's paw, and SMER technique was applied in order to create a logic controller for this device. Image processing techniques were used to evaluate the functionality of the proposed strategy, with help of an experimental apparatus consisting on infrared markers, an infrared light, and a camera. Test results showed that it is completely possible to use SMER techniques to activate soft robotics systems; also the test revealed that the techniques employed to develop and test the device were appropriate and limited resources were needed.

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Document information

Title :

A Novel Sequential Activation Method for the Locomotion of Quadrupedal Soft Robots

Contributors:

Garcia Sampaio, Rafaela Aparecida (author) / Lopes e Silva, Fabricio (author) / de Souza de Carvalho, Cristiano (author) / Barreto Haddad, Diego (author) / Mattos Araujo, Gabriel (author) / M. G. Franca, Felipe (author)

Published in:

2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019 Workshop on Robotics in Education (WRE) ; 393-398

Publication date :

2019-10-01

Size :

843207 byte

ISBN :

978-1-7281-4268-5

ISSN :

2643-685X

DOI :

https://doi.org/10.1109/LARS-SBR-WRE48964.2019.00075