Leafbot: Soft robot moves only through vibrations
The Leafbot does not need complicated motion control. It is simply driven by a vibration motor. The legs are made of silicone.
The Leafbot overcomes an obstacle. It is powered by vibration.
(Image: JAIST (Screenshot))
Scientists at the Japan Advanced Institute of Science and Technology (JAIST) have developed a soft robot called Leafbot, which is vibrated by a single vibration motor and can therefore move even in difficult terrain. The robot does not require a complex control system.
The Leafbot's body consists of a soft, monolithic silicone rubber with curved protrusions as legs. Their hook-shaped structure is designed to make it easier for the robot to move forward on smooth and uneven surfaces.
The researchers use a vibration motor as a drive, which transmits vibrations to the body in such a way that the legs deform and, together with centripetal forces and asymmetric frictional interactions, generate locomotion. To this end, the JAIST scientists developed an analytical model that took all factors into account in order to generate a crawling-like movement.
The scientists published their research results in the study "Terradynamics of Monolithic Soft Robot Driven by Vibration Mechanism", which appeared in IEEE Transactions on Robotics.
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The scientists used further analysis simulations to gain an understanding of how the soft structure of the body interacts with different surfaces.
"Our goal was to analyze how morphology influences locomotion. The experimental results confirmed our predictions and showed how certain limb patterns optimize Leafbot's performance in difficult landscapes," says Van Anh Ho, head of the Ho Lab.
Effective leg configuration
To determine the optimal limb configuration, the researchers created three robot models with differently curved legs. They tested these models in simulations and on a real robot to determine their performance in different environments. These included inclines, slopes and small circular obstacles and steps. The scientists discovered that the curvature of the limbs plays a key role in locomotion and used theoretical modeling and experimental validation to determine an optimal effective leg design that can also be scaled. The legs enable the robot to overcome inclines of up to 30 degrees and small obstacles.
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"Unlike rigid robots that rely on precise actuation, Leafbot's adaptability allows it to self-adjust across different surfaces. This capability makes it particularly useful for applications that require mobility in tight and uneven spaces," explains co-author Linh Viet Nguyen, a PhD student at JAIST.
The JAIST scientists see inspection work in confined spaces, such as in pipes or shafts, as well as industrial applications for the robot. In addition, the robot could also be used in disaster areas and agriculture, for example for soil analysis or crop inspections.
(olb)
