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research article

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Sun, Yi
•
Feng, Hui
•
Liang, Xinquan
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October 30, 2022
Advanced Intelligent Systems

Soft actuator is the main technology that drives the development of soft robotics as it defines the capabilities of soft machines. One of the key challenges in soft actuator research is to simultaneously produce complex morphing (e.g., surface morphing) and high force. Therefore, a soft robotic pad (SRP) was developed as a new soft actuator that can potentially tackle this challenge. This article demonstrates the highly flexible customization process of the SRP regarding fabrication, morphing design, and force scaling for a challenging application: a giant manta ray robot with the Mobuliform swimming mode. Soft robotic pectoral fins (SRPFs) are customized using the SRP technology for the robot. Detailed characterization results show that the SRPFs can generate almost 100 N force or 25 Nm torque with a dual curving motion to mimic the manta ray fin kinematics. The SRPFs are able to propel the manta ray robot to a decent swimming speed with biomimetic fin motions. As a new member of the soft actuator family, SRPs exhibit strong capabilities through this manta ray robot, and they can potentially become unique tools for many engineers and researchers to tackle challenging applications requiring high force and surface morphing.

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Type
research article
DOI
10.1002/aisy.202200186
Web of Science ID

WOS:000877812300001

Author(s)
Sun, Yi
•
Feng, Hui
•
Liang, Xinquan
•
Goh, Aaron J. Y.
•
Qi, Peng
•
Li, Miao  
•
Ang Jr, Marcelo H.
•
Yeow, Raye C. H.
Date Issued

2022-10-30

Publisher

WILEY

Published in
Advanced Intelligent Systems
Subjects

Automation & Control Systems

•

Computer Science, Artificial Intelligence

•

Robotics

•

Computer Science

•

2d actuators

•

manta ray robots

•

soft fluidic actuators

•

soft robotic pads

•

soft robots

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surface morphing

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thrust production

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fabrication

•

optimization

•

surfaces

•

design

•

shape

Peer reviewed

REVIEWED

Written at

EPFL

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LASA  
Available on Infoscience
December 5, 2022
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/192986
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