Soft pneumatic hexapedal robot, and uses thereof
AssigneeThe Regents of the University of California
InventorsKonstantinos Karydis, Zhichao Liu
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Abstract
This disclosure relates to apparatus a multi-legged robot including at least one pair of actuators. Each actuator includes a pliable body. The pliable body includes a first portion having a first chamber, a second portion having a second chamber, where the second portion coupled to a distal end of the first portion. The pliable body includes a first inlet coupled to the first chamber, where the first portion is configured to bend upon receiving a first fluid via the first inlet and a second inlet coupled to the second chamber, where the second portion is configured to extend upon receiving a second fluid via the second inlet. The multi-legged robot includes a frame coupled to a proximate end of the first portion of each actuator.
Claims16
A multi-legged robot comprising:
- at least one pair of actuators, wherein each actuator includes:
- a pliable body having:
- a first portion comprising a first chamber;
- a second portion comprising a second chamber, the second portion coupled to a distal end of the first portion;
- a first inlet coupled to the first chamber, wherein the first portion is configured to bend upon receiving a first fluid via the first inlet;
- and
- a second inlet coupled to the second chamber, wherein the second portion is configured to extend upon receiving a second fluid via the second inlet;
- and
- a frame coupled to a proximate end of the first portion of each actuator, wherein:
- to cause the multi-legged robot to walk:
- the first chamber is pressurized at first clock phases, and
- the second chamber is pressured at second clock phases, and
- to cause the multi-legged robot to turn:
- the first chamber is pressurized at third clock phases, and
- the second chamber is pressurized at fourth clock phases.
A method of operating a multi-legged robot, the method comprising:
- providing a multi-legged robot in an initial state, wherein the multi-legged robot includes at least one pair of actuators, the at least one pair of actuators having a first actuator and a second actuator;
- activating the first actuator in each of the at least one pairs of actuators, wherein activating the first actuator comprises:
- receiving a first fluid via a first inlet coupled to a first chamber of a first portion of the first actuator;
- in response to receiving the first fluid, bending the first portion of the first actuator;
- receiving a second fluid via a second inlet coupled to a second chamber of a second portion of the first actuator, the second portion coupled to a distal end of the first portion;
- in response to receiving the second fluid, extending the second portion of the first actuator;
- and
- depressurizing the first and second chambers, wherein:
- to cause the multi-legged robot to walk:
- the first chamber is pressurized at first clock phases, and
- the second chamber is pressured at second clock phases, and
- to cause the multi-legged robot to turn:
- the first chamber is pressurized at third clock phases, and
- the second chamber is pressurized at fourth clock phases.
A method of actuating a soft actuator, the method comprising:
- receiving a first fluid via a first fluid inlet coupled to a first chamber of a first portion of a pliable body;
- in response to receiving the first fluid, bending the first portion of the pliable body by a first amount;
- receiving a second fluid via a second fluid inlet coupled to a second chamber of a second portion of a pliable body, the second portion coupled to a distal end of the first portion;
- in response to receiving the second fluid, extending the second portion of the pliable body;
- and
- depressurizing the first and second chambers, wherein:
- to actuate the pliable body for walking:
- the first chamber is pressurized at first clock phases, and
- the second chamber is pressured at second clock phases, and
- to actuate the pliable body for turning:
- the first chamber is pressurized at third clock phases, and
- the second chamber is pressurized at fourth clock phases.
Dependencies are inferred from the claim text.