Influence of friction on the locomotion of soft robots

Abstract: The recent interest in soft robots results from their adaptability, versatility and flexibility, which is very advantageous for new applications in human‐robot interaction, health care or field exploration. Many feasibility studies have already demonstrated the versatility of soft robots to grip irregular objects, walk on uneven surfaces, or interact with humans. Further research on mathematical models of these continuously deformable robots is ongoing to predict their performance in real life and operational situations. In particular, the models should be able to describe nonlinear material properties, contact situations and the dynamic behavior of the soft robot in action, which is a major challenge. In this paper, basic measurements of the friction behavior of a fabricated pneu‐net bending actuator are performed in different actuation phases. In order to analyze the dependence on the momentary actuation, the coefficient of friction is related to the applied pressure, which shows a nonlinear characteristic. The results are used in the Euler's Elastica model of the soft bending actuator to describe the overall deformation according to the contact conditions more precisely.

Object Details

• Location: Deutsche Nationalbibliothek Frankfurt am Main
• Extent: Online-Ressource
• Language: Englisch

References and Relationships

• Bibliographic citation: Influence of friction on the locomotion of soft robots ; volume:19 ; number:1 ; year:2019 ; extent:2 ; Proceedings in applied mathematics and mechanics ; 19, Heft 1 (2019) (gesamt 2)

Contributors, Places and Time

• Creator: de Payrebrune, Kristin M.

Further information

• DOI: 10.1002/pamm.201900334
• URN: urn:nbn:de:101:1-2022072207552584146075
• Rights: Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
• Last update: 15.08.2025, 7:26 AM CEST