Worm Robot from Seoul National University



    The source of inspiration for creating a new robot was nature itself, specifically, the method of moving the moth caterpillar was specifically used. Maybe this is not the fastest way to travel, when compared with wheels and legs, but it has an undeniable advantage: quiet movement in tight spaces.

    In a published paper in Bioinspiration & Biomimetics, Wei Wang and other researchers from Seoul National University describe the experience of designing and building a robot with a similar principle of motion. Above you can see how it creeps.

    The caterpillar has two or three pairs of legs on the front and two or three legs-like structures on the back of its body, called false legs. As a rule, the length of this stage of development of the moth does not exceed several centimeters.

    The insect has no bones, but thanks to a complex muscular system, they can perform many movements, including standing upright on their pseudopods.

    To imitate the body of the caterpillar, the researchers used the material polydimethylsiloxane (PDMS), an organosilicon polymer. The mold for casting was made on a 3D printer and the body of the future robot was cast, and then the legs were made of polyimide film in front and behind. The role of muscle fibers was played by eight threads with a longitudinal memory effect, passing through the entire body of the robot.

    A living worm sets itself in motion as follows: it first clings to its hind legs, and then moves its front legs, straightening its body. Holding tenaciously on the front and releasing the rear, he again bends his body for the next step.

    The process is repeated to continue moving. The robot moves the same way. To control its movement, special electrical signals must be applied to the artificial muscles. It is possible to move forward and backward.

    Thus, the robot was able to advance for one such step by 54 millimeters, which is one third of the length of its body. The speed was 3.6 mm / s. The prototype is able to rotate 4.3 ° per step. Turning 90 ° is harder and requires 21 threads, but it is still much better than previous attempts.


    Muscular structure of the moth caterpillar

    In the future, the mobility of the robot will be improved using an independent control system, and researchers plan to use motion control algorithms to improve the operation of other similar devices.

    The robot is simple, light and quiet, which can allow it to be used for rescue operations when analyzing blockages or when exploring the area. Also, similar structures can be very useful in wearable devices. Researchers hope to achieve the creation of soft prostheses and other mechanical devices.

    Based on materials from phys.org .

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