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  Auxetic metamaterial simplifies soft robot design

Mark, A. G., Palagi, S., Qiu, T., & Fischer, P. (2016). Auxetic metamaterial simplifies soft robot design. In 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4951-4956). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/21.11116/0000-000B-16D3-E Version Permalink: https://hdl.handle.net/21.11116/0000-000E-4B32-6
Genre: Conference Paper

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IEEEIntConfRoboticsAutomation_2016_4951.pdf (Any fulltext), 2MB
 
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https://ieeexplore.ieee.org/document/7487701 (Any fulltext)
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 Creators:
Mark, Andrew G., Author
Palagi, Stefano, Author
Qiu, Tian, Author
Fischer, Peer1, Author                 
Affiliations:
1Max Planck Institute for Medical Research, Max Planck Society, ou_1125545              

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 Abstract: Soft materials are being adopted in robotics in order to facilitate biomedical applications and in order to achieve simpler and more capable robots. One route to simplification is to design the robot's body using `smart materials' that carry the burden of control and actuation. Metamaterials enable just such rational design of the material properties. Here we present a soft robot that exploits mechanical metamaterials for the intrinsic synchronization of two passive clutches which contact its travel surface. Doing so allows it to move through an enclosed passage with an inchworm motion propelled by a single actuator. Our soft robot consists of two 3D-printed metamaterials that implement auxetic and normal elastic properties. The design, fabrication and characterization of the metamaterials are described. In addition, a working soft robot is presented. Since the synchronization mechanism is a feature of the robot's material body, we believe that the proposed design will enable compliant and robust implementations that scale well with miniaturization.

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Language(s): eng - English
 Dates: 2016-05
 Publication Status: Issued
 Pages: 6
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/ICRA.2016.7487701
BibTex Citekey: 2016mark
 Degree: -

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Title: 2016 IEEE International Conference on Robotics and Automation (ICRA)
Place of Event: Stockholm, Sweden
Start-/End Date: 2016-05-16 - 2016-05-21

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Title: 2016 IEEE International Conference on Robotics and Automation (ICRA)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4951 - 4956 Identifier: ISBN: 978-1-4673-8026-3