A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot

Koichi Suzumori, Satoshi Endo, Takefumi Kanda, Naomi Kato, Hiroyoshi Suzuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

202 Citations (Scopus)

Abstract

This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and evaluated to lead to an optimal actuator design. The actuator works very well with smooth and soft motion. The manta swimming robot in which the developed actuators are embedded is also designed based on non-linear finite element method. The developed manta swimming robot is made only of rubber and it swims in water smoothly as if it was a living fish. The experimental results of the manta robot motion show that good agreement with those of analytical results.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4975-4980
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

Fingerprint

Pneumatics
Rubber
Actuators
Robots
Rubber molding
Finite element method
Computer aided manufacturing
Fish
Computer aided design
Computer systems
Swimming
Fabrication
Water

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Suzumori, K., Endo, S., Kanda, T., Kato, N., & Suzuki, H. (2007). A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4975-4980). [4209864] https://doi.org/10.1109/ROBOT.2007.364246

A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. / Suzumori, Koichi; Endo, Satoshi; Kanda, Takefumi; Kato, Naomi; Suzuki, Hiroyoshi.

Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 4975-4980 4209864.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Suzumori, K, Endo, S, Kanda, T, Kato, N & Suzuki, H 2007, A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. in Proceedings - IEEE International Conference on Robotics and Automation., 4209864, pp. 4975-4980, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.364246
Suzumori K, Endo S, Kanda T, Kato N, Suzuki H. A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 4975-4980. 4209864 https://doi.org/10.1109/ROBOT.2007.364246
Suzumori, Koichi ; Endo, Satoshi ; Kanda, Takefumi ; Kato, Naomi ; Suzuki, Hiroyoshi. / A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 4975-4980
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