THE DESIGN AND MOTION ANALYSIS OF A PNEUMATIC OMNIDIRECTIONAL SOFT ROBOT

Jinhua Zhang, Huaxia Guo, Tao Wang, and Jun Hong

Keywords

Pneumatic soft actuator, kinematics model, omnidirectional softrobot, motion control

Abstract

Robots comprised of soft actuators are different from conventional rigid robots and have many promising applications involving fields such as medical, rehabilitation and rescue. In this work, an omnidirectional robot made of multi-chamber pneumatic soft actuators is proposed. One of the main ideas of this work is to introduce the kinematics of the actuator. Additionally, this work studies the kinematics and the relationship between the motion and control sequences of the robot. Such a demonstration of the robot will allow specific vision of its motion mechanism, thus enabling advanced and innovative application functions for soft robots in the future.

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