Inchworm‐Like Soft Robot with Multimodal Locomotion Using an Acrylic Stick‐Constrained Dielectric Elastomer Actuator

Abstract

Inchworm‐like robots have been increasingly investigated in recent years. However, most studies have focused on one or several locomotion modes, lacking in terms of inverted climbing, movement with a heavy load, and climbing a vertical plane. Herein, an inchworm‐like soft robot is actuated with multimodal locomotion using an acrylic stick‐constrained dielectric elastomer actuator (ASCDEA). By assembling the ASCDEA with a flexible support frame, a soft saddle‐like shape body is designed to provide the shape deformation ability for the robot. This design enables the robot to move under a heavy load. Two electroadhesion actuators are designed to implement the anchoring action. Additionally, a coordination control strategy is developed to synchronize the shape deformation and electroadhesion for multimodal locomotion. Experimental results confirm that the designed robot can move at a maximum velocity of 39.55 mm s−1 (0.53 body length s−1) on an inverted plane. Moreover, the robot is capable of multimodal locomotion, including inverted climbing, vertical climbing, horizontal crawling, turning locomotion, and rapid movement with a heavy load. The developed soft robot can navigate through a confined horizontal tunnel while carrying a payload, cross a gap, circumvent obstacles, and is particularly robust owing to its compliance.