Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials

Mechanical instabilities are emerging as novel actuation mechanisms for the design of biomimetic soft robots and smart structures. The present study shows that by coupling buckling-driven elastomeric auxetic modules actuated by a negative air-pressure, a novel metamaterial-based caterpillar can be d...

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Autores principales:	B. Grossi, H. Palza, J.C. Zagal, C. Falcón, G. During
Formato:	article
Lenguaje:	EN
Publicado:	Elsevier 2021
Materias:	Metamaterials Biomimetic Soft Robots Buckling-Driven Units Materials of engineering and construction. Mechanics of materials TA401-492
Acceso en línea:	https://doaj.org/article/3e7b8396f35649e5855d2837c8fdebab
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id	oai:doaj.org-article:3e7b8396f35649e5855d2837c8fdebab
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spelling	oai:doaj.org-article:3e7b8396f35649e5855d2837c8fdebab2021-11-28T04:27:47ZMetarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials0264-127510.1016/j.matdes.2021.110285https://doaj.org/article/3e7b8396f35649e5855d2837c8fdebab2021-12-01T00:00:00Zhttp://www.sciencedirect.com/science/article/pii/S0264127521008406https://doaj.org/toc/0264-1275Mechanical instabilities are emerging as novel actuation mechanisms for the design of biomimetic soft robots and smart structures. The present study shows that by coupling buckling-driven elastomeric auxetic modules actuated by a negative air-pressure, a novel metamaterial-based caterpillar can be designed—the Metarpillar. Following a detailed analysis of the caterpillar’s locomotion, we were able to mimic both its crawling movement and locomotion by using the unique isometric compression of the modules and properly programing the anterograde modular peristaltic contractions. The bioinspired locomotion of the Metarpillar uses the bending triggered by the buckling-driven module contraction to control the friction through a dynamic anchoring between the soft robot and the surface, which is the main mechanism for locomotion in caterpillars and other crawling organisms. Thus, the Metarpillar not only mimics the locomotion of the caterpillar but also displays dynamic similarity and equivalent, or even faster, speeds. Our approach based on metamaterial buckling actuator units opens up a novel strategy for biomimetic soft robotic locomotion that can be extended beyond caterpillars.B. GrossiH. PalzaJ.C. ZagalC. FalcónG. DuringElsevierarticleMetamaterialsBiomimeticSoft RobotsBuckling-Driven UnitsMaterials of engineering and construction. Mechanics of materialsTA401-492ENMaterials & Design, Vol 212, Iss , Pp 110285- (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Metamaterials Biomimetic Soft Robots Buckling-Driven Units Materials of engineering and construction. Mechanics of materials TA401-492
spellingShingle	Metamaterials Biomimetic Soft Robots Buckling-Driven Units Materials of engineering and construction. Mechanics of materials TA401-492 B. Grossi H. Palza J.C. Zagal C. Falcón G. During Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials
description	Mechanical instabilities are emerging as novel actuation mechanisms for the design of biomimetic soft robots and smart structures. The present study shows that by coupling buckling-driven elastomeric auxetic modules actuated by a negative air-pressure, a novel metamaterial-based caterpillar can be designed—the Metarpillar. Following a detailed analysis of the caterpillar’s locomotion, we were able to mimic both its crawling movement and locomotion by using the unique isometric compression of the modules and properly programing the anterograde modular peristaltic contractions. The bioinspired locomotion of the Metarpillar uses the bending triggered by the buckling-driven module contraction to control the friction through a dynamic anchoring between the soft robot and the surface, which is the main mechanism for locomotion in caterpillars and other crawling organisms. Thus, the Metarpillar not only mimics the locomotion of the caterpillar but also displays dynamic similarity and equivalent, or even faster, speeds. Our approach based on metamaterial buckling actuator units opens up a novel strategy for biomimetic soft robotic locomotion that can be extended beyond caterpillars.
format	article
author	B. Grossi H. Palza J.C. Zagal C. Falcón G. During
author_facet	B. Grossi H. Palza J.C. Zagal C. Falcón G. During
author_sort	B. Grossi
title	Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials
title_short	Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials
title_full	Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials
title_fullStr	Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials
title_full_unstemmed	Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials
title_sort	metarpillar: soft robotic locomotion based on buckling-driven elastomeric metamaterials
publisher	Elsevier
publishDate	2021
url	https://doaj.org/article/3e7b8396f35649e5855d2837c8fdebab
work_keys_str_mv	AT bgrossi metarpillarsoftroboticlocomotionbasedonbucklingdrivenelastomericmetamaterials AT hpalza metarpillarsoftroboticlocomotionbasedonbucklingdrivenelastomericmetamaterials AT jczagal metarpillarsoftroboticlocomotionbasedonbucklingdrivenelastomericmetamaterials AT cfalcon metarpillarsoftroboticlocomotionbasedonbucklingdrivenelastomericmetamaterials AT gduring metarpillarsoftroboticlocomotionbasedonbucklingdrivenelastomericmetamaterials
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Metarpillar: Soft robotic locomotion based on buckling-driven elastomeric metamaterials

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