Soft Robotics: Biological Inspiration, State of the Art, and Future Research
Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2008-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320802557865 |
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| _version_ | 1832550824422670336 |
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| author | Deepak Trivedi Christopher D. Rahn William M. Kier Ian D. Walker |
| author_facet | Deepak Trivedi Christopher D. Rahn William M. Kier Ian D. Walker |
| author_sort | Deepak Trivedi |
| collection | DOAJ |
| description | Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks) are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control. |
| format | Article |
| id | doaj-art-365a8eb90e9843f3953673cab0358791 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2008-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-365a8eb90e9843f3953673cab03587912025-02-03T06:05:37ZengWileyApplied Bionics and Biomechanics1176-23221754-21032008-01-01539911710.1080/11762320802557865Soft Robotics: Biological Inspiration, State of the Art, and Future ResearchDeepak Trivedi0Christopher D. Rahn1William M. Kier2Ian D. Walker3Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802, USADepartment of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802, USADepartment of Biology, The University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USADepartment of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634, USATraditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks) are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.http://dx.doi.org/10.1080/11762320802557865 |
| spellingShingle | Deepak Trivedi Christopher D. Rahn William M. Kier Ian D. Walker Soft Robotics: Biological Inspiration, State of the Art, and Future Research Applied Bionics and Biomechanics |
| title | Soft Robotics: Biological Inspiration, State of the Art, and Future Research |
| title_full | Soft Robotics: Biological Inspiration, State of the Art, and Future Research |
| title_fullStr | Soft Robotics: Biological Inspiration, State of the Art, and Future Research |
| title_full_unstemmed | Soft Robotics: Biological Inspiration, State of the Art, and Future Research |
| title_short | Soft Robotics: Biological Inspiration, State of the Art, and Future Research |
| title_sort | soft robotics biological inspiration state of the art and future research |
| url | http://dx.doi.org/10.1080/11762320802557865 |
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