Shape Memory Alloy‐Based Soft Amphibious Robot Capable of Seal‐Inspired Locomotion. Issue 6 (10th February 2022)

• Record Type: Journal Article
• Authors: Hwang, Jonghyun; Wang, Wei Dawid
• Is Part Of: Advanced materials technologies. Volume 7:Issue 6(2022)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2022-02-10
• Subjects: bioinspired robots -- crawling terrestrial locomotion -- oscillatory underwater propulsion -- shape memory alloy -- soft amphibious robot; Materials science -- Periodicals; Technological innovations -- Periodicals; Materials science; Technological innovations; Periodicals; 620.1105
• DOI: 10.1002/admt.202101153
• Languages: English
• ISSNs: 2365-709X

Abstract

Abstract: Robots are often required to have multimodal and amphibious capabilities for dynamic environments. Although shape memory alloy (SMA) has been exploited in creating various types of deformation in soft actuators, no SMA‐based multimodal soft amphibious robot has been reported. This study describes a soft amphibious robot made of SMA‐based soft actuators that mimics the terrestrial and subaqueous motion of crawling seals. The soft amphibious robot named SEALicone exhibits two gaits, crawling terrestrial locomotion and oscillatory underwater propulsion. The robot consists of two types of SMA‐based soft actuators: the backbone actuator with wave‐like deformation and the support actuator with fusiform deformation. These actuators in the robot collectively deform allowing the robot to generate distinct locomotion styles that mimic those of the crawling seals. Straight advance and turning motions of the robot in both environments are evaluated, and the transitional motion between the two environments is also demonstrated. This study lays the important groundwork in designing multimodal soft robots that can operate across different environments. Abstract : The first shape memory alloy‐based multimodal soft amphibious robot, SEALicone, is demonstrated, which is capable of mimicking the crawling terrestrial locomotion and oscillatory underwater propulsion of crawling seals. The synergetic deformation of two types of soft actuators enables the robot to generate distinct locomotion styles. This study lays the groundwork for designing multimodal soft robots that can operate across different environments.