Abstract

Soft robots promise a number of advantages over their rigid counterparts, including the ability to conform to and manipulate arbitrary geometries, conjunction acceptance through contact absorption, and an increased range of motion through deformability. Increased robustness and resilience make soft robots an interesting mobility and manipulation platform for both on-orbit and extraterrestrial applications, where topology is unknown and/or varied with highly sensitive components and materials. There they can have both geometric mapping and manipulating applications. In this paper, a possible architecture for a mobile soft robot used for sensing its environment through locomotion over a 3D surface is proposed, and an individual limb prototype is built and tested in one-g environment. A multi-limb robot architecture is proposed where each limb has more than one SMA wire actuator, allowing for additional degrees …

Metadata

publication

2024 IEEE Aerospace Conference, 1-9, 2024

year

2024

publication date

2024/3/2

authors

Kristina Andreyeva, Griffin MacRae, Nathan Migeon, Thomas Nicol, Marie Cros-Coitton, David Barnhart

link

https://ieeexplore.ieee.org/abstract/document/10521380/

conference

2024 IEEE Aerospace Conference

pages

1-9

publisher

IEEE