Peristaltic Locomotion with Antagonistic Actuators in Soft Robotics

Peristaltic Locomotion with Antagonistic Actuators in Soft Robotics

This paper presents a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the unique antagonistic arrangement of radial/circular and longitudinal muscle groups of Oligochaeta. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structur...

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Bibliographic Details
Main Authors: Seok, Sangok (Contributor), Onal, Cagdas (Contributor), Wood, Robert (Author), Rus, Daniela L. (Contributor), Kim, Sangbae (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor), Massachusetts Institute of Technology. School of Engineering (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2012-09-04T19:36:32Z.
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