- Title
- Image-guided locomotion of a pneumatic-driven peristaltic soft robot
- Creator
- Xavier, Matheus S.; Fleming, Andrew J.; Yong, Yuen K.
- Relation
- 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019). Proceedings of the 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) (Dali, China 06-08 December, 2019) p. 2269-2274
- Publisher Link
- http://dx.doi.org/10.1109/ROBIO49542.2019.8961406
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2019
- Description
- In this work, a pneumatic-driven peristaltic soft robot with pressure feedback control and image-guided tracking is developed. Locomotion is achieved in tube-like environments by mimicking the peristaltic motion of earthworms. The soft actuators are made of silicone rubber with 3D molding and fiber reinforcements. Pressure control is performed using custom-made syringe pumps and on/off controllers in Arduino. Real-time visual tracking is accomplished in OpenCV with a color-based approach. The soft robot has a stroke of 30-35mm for each cycle of actuation. This pneumatic soft robot shows great potential for application in minimally invasive surgery due to its compliance and biocompatibility.
- Subject
- bio-inspired robotics; soft robotics; syringe pump; pressure control; image-based tracking
- Identifier
- http://hdl.handle.net/1959.13/1424681
- Identifier
- uon:38132
- Identifier
- ISBN:9781728163215
- Language
- eng
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