An Actuation System using a Hydrostatic Skeleton and a Shape Memory Alloy for Earthworm-like Soft Robots

Kazuma Matsushita, Masahiro Ikeda, Keung Or, Ryuma Niiyama, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Numerous soft robots that mimic living organisms have been proposed. Earthworm robots are a type of robots that imitate the peristaltic locomotion of earthworms. Engineering reproduction of the burrowing motion of earthworms is useful for soil investigation and stirring of the particles in the soil. In this study, a novel compact actuation system that can be mounted on small earthworm-like robots was developed. The system can output axial extension force and is suitable for enabling earthworm-like robots to drive peristaltic locomotion in soil. The actuation system for an earthworm robot was fabricated by reproducing the hydrostatic skeleton and circumferential muscle arrangement of the earthworm using a water-filled rubber-like resin and shape memory alloy (SMA). We confirmed that the proposed system can output the axial extension force by applying an electric current to the SMA of the actuation system. Thus, the fabricated actuation system is useful for earthworm-like robots that dig holes. This system can be extensively used in earthworm-like as well as small soft robots to easily obtain the extension force.

Original languageEnglish
Title of host publication2022 IEEE/SICE International Symposium on System Integration, SII 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages47-52
Number of pages6
ISBN (Electronic)9781665445405
DOIs
Publication statusPublished - 2022
Event2022 IEEE/SICE International Symposium on System Integration, SII 2022 - Virtual, Narvik, Norway
Duration: 9 Jan 202212 Jan 2022

Publication series

Name2022 IEEE/SICE International Symposium on System Integration, SII 2022

Conference

Conference2022 IEEE/SICE International Symposium on System Integration, SII 2022
Country/TerritoryNorway
CityVirtual, Narvik
Period9/01/2212/01/22

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