Exploiting Friction Anisotropy for Soft Robot Locomotion

Naris Asawalertsak; Stanislav N. Gorb; Alexander Kovalev; Jonas Jørgensen; Poramate Manoonpong

doi:10.1007/978-3-031-15226-9_10

Exploiting Friction Anisotropy for Soft Robot Locomotion

Naris Asawalertsak, Stanislav N. Gorb, Alexander Kovalev, Jonas Jørgensen, Poramate Manoonpong^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

Animals can utilize the friction anisotropy of their skin to traverse various substrates efficiently. Inspired by this, we explore different bio-inspired sawtooth-like surface structures on a soft crawling robot. Our results show the robot can crawl in different directions by exploiting friction anisotropy on the substrates and using only a single source of pressure for its pneumatic actuation.

Original language	English
Title of host publication	Robotics in Natural Settings : CLAWAR 2022
Editors	José M. Cascalho, Armando Mendes, Matthias Funk, Mohammad Osman Tokhi, Manuel F. Silva, Khaled Goher
Publisher	Springer
Publication date	2023
Pages	75-79
ISBN (Print)	9783031152252
ISBN (Electronic)	978-3-031-15226-9
DOIs	https://doi.org/10.1007/978-3-031-15226-9_10
Publication status	Published - 2023
Event	25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022 - Ponta Delgada, Portugal Duration: 12. Sep 2022 → 14. Sep 2022

Conference

Conference	25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022
Country/Territory	Portugal
City	Ponta Delgada
Period	12/09/2022 → 14/09/2022

Series	Lecture Notes in Networks and Systems
Volume	530 LNNS
ISSN	2367-3370

Keywords

Anisotropic friction
Bio-inspired robotics
Soft crawling robots

Documents & Links

10.1007/978-3-031-15226-9_10

Embargoed Document

Open Access Version
Accepted manuscript, 429 KB
Embargo ends: 25/08/2023

Cite this

Asawalertsak, N., Gorb, S. N., Kovalev, A., Jørgensen, J., & Manoonpong, P. (2023). Exploiting Friction Anisotropy for Soft Robot Locomotion. In J. M. Cascalho, A. Mendes, M. Funk, M. O. Tokhi, M. F. Silva, & K. Goher (Eds.), Robotics in Natural Settings: CLAWAR 2022 (pp. 75-79). Springer. Lecture Notes in Networks and Systems Vol. 530 LNNS https://doi.org/10.1007/978-3-031-15226-9_10

Asawalertsak, Naris ; Gorb, Stanislav N. ; Kovalev, Alexander et al. / Exploiting Friction Anisotropy for Soft Robot Locomotion. Robotics in Natural Settings: CLAWAR 2022. editor / José M. Cascalho ; Armando Mendes ; Matthias Funk ; Mohammad Osman Tokhi ; Manuel F. Silva ; Khaled Goher. Springer, 2023. pp. 75-79 (Lecture Notes in Networks and Systems, Vol. 530 LNNS).

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title = "Exploiting Friction Anisotropy for Soft Robot Locomotion",

abstract = "Animals can utilize the friction anisotropy of their skin to traverse various substrates efficiently. Inspired by this, we explore different bio-inspired sawtooth-like surface structures on a soft crawling robot. Our results show the robot can crawl in different directions by exploiting friction anisotropy on the substrates and using only a single source of pressure for its pneumatic actuation.",

keywords = "Anisotropic friction, Bio-inspired robotics, Soft crawling robots",

author = "Naris Asawalertsak and Gorb, {Stanislav N.} and Alexander Kovalev and Jonas J{\o}rgensen and Poramate Manoonpong",

note = "Funding Information: Acknowledgements. This research was supported by the BrainBot project (I22POM-INT010) and the startup grant on bio-inspired Robotics of Vidyasirimedhi Institute of Science & Technology (VISTEC). Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022 ; Conference date: 12-09-2022 Through 14-09-2022",

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doi = "10.1007/978-3-031-15226-9_10",

language = "English",

isbn = "9783031152252",

series = "Lecture Notes in Networks and Systems",

publisher = "Springer",

pages = "75--79",

editor = "Cascalho, {Jos{\'e} M.} and Armando Mendes and Matthias Funk and Tokhi, {Mohammad Osman} and Silva, {Manuel F.} and Khaled Goher",

booktitle = "Robotics in Natural Settings",

address = "Germany",

}

Asawalertsak, N, Gorb, SN, Kovalev, A, Jørgensen, J & Manoonpong, P 2023, Exploiting Friction Anisotropy for Soft Robot Locomotion. in JM Cascalho, A Mendes, M Funk, MO Tokhi, MF Silva & K Goher (eds), Robotics in Natural Settings: CLAWAR 2022. Springer, Lecture Notes in Networks and Systems, vol. 530 LNNS, pp. 75-79, 25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022, Ponta Delgada, Portugal, 12/09/2022. https://doi.org/10.1007/978-3-031-15226-9_10

Exploiting Friction Anisotropy for Soft Robot Locomotion. / Asawalertsak, Naris; Gorb, Stanislav N.; Kovalev, Alexander et al.

Robotics in Natural Settings: CLAWAR 2022. ed. / José M. Cascalho; Armando Mendes; Matthias Funk; Mohammad Osman Tokhi; Manuel F. Silva; Khaled Goher. Springer, 2023. p. 75-79 (Lecture Notes in Networks and Systems, Vol. 530 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Exploiting Friction Anisotropy for Soft Robot Locomotion

AU - Asawalertsak, Naris

AU - Gorb, Stanislav N.

AU - Kovalev, Alexander

AU - Jørgensen, Jonas

AU - Manoonpong, Poramate

N1 - Funding Information: Acknowledgements. This research was supported by the BrainBot project (I22POM-INT010) and the startup grant on bio-inspired Robotics of Vidyasirimedhi Institute of Science & Technology (VISTEC). Publisher Copyright: © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

PY - 2023

Y1 - 2023

N2 - Animals can utilize the friction anisotropy of their skin to traverse various substrates efficiently. Inspired by this, we explore different bio-inspired sawtooth-like surface structures on a soft crawling robot. Our results show the robot can crawl in different directions by exploiting friction anisotropy on the substrates and using only a single source of pressure for its pneumatic actuation.

AB - Animals can utilize the friction anisotropy of their skin to traverse various substrates efficiently. Inspired by this, we explore different bio-inspired sawtooth-like surface structures on a soft crawling robot. Our results show the robot can crawl in different directions by exploiting friction anisotropy on the substrates and using only a single source of pressure for its pneumatic actuation.

KW - Anisotropic friction

KW - Bio-inspired robotics

KW - Soft crawling robots

U2 - 10.1007/978-3-031-15226-9_10

DO - 10.1007/978-3-031-15226-9_10

M3 - Article in proceedings

AN - SCOPUS:85137980050

SN - 9783031152252

T3 - Lecture Notes in Networks and Systems

SP - 75

EP - 79

BT - Robotics in Natural Settings

A2 - Cascalho, José M.

A2 - Mendes, Armando

A2 - Funk, Matthias

A2 - Tokhi, Mohammad Osman

A2 - Silva, Manuel F.

A2 - Goher, Khaled

PB - Springer

T2 - 25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022

Y2 - 12 September 2022 through 14 September 2022

ER -

Asawalertsak N, Gorb SN, Kovalev A, Jørgensen J , Manoonpong P. Exploiting Friction Anisotropy for Soft Robot Locomotion. In Cascalho JM, Mendes A, Funk M, Tokhi MO, Silva MF, Goher K, editors, Robotics in Natural Settings: CLAWAR 2022. Springer. 2023. p. 75-79. (Lecture Notes in Networks and Systems, Vol. 530 LNNS). Epub 2022 Aug 25. doi: 10.1007/978-3-031-15226-9_10

Exploiting Friction Anisotropy for Soft Robot Locomotion

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Conference

Keywords

Documents & Links

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