Abstract
This paper details the design, fabrication and experimental verification of a complete, tetherless, pressure-operated soft robotic platform. Miniature CO2 cartridges in conjunction with a custom pressure regulating system are used as an onboard pressure source and embeddable electro-permanent magnet (EPM) [9] valves [13] are used to address supporting hardware requirements. It is shown that this system can repeatedly generate and regulate supply pressure while driving a fluidic elastomer actuator (FEA) [7, 14, 13]. To demonstrate our approach in creating tetherless soft mobile robots, this paper focuses on an example case-study: a soft robotic fish. An underactuated propulsion system emulating natural caudal fin and peduncle movement is designed, fabricated, and subsequently experimentally characterized.
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Marchese, A.D., Onal, C.D., Rus, D. (2013). Towards a Self-contained Soft Robotic Fish: On-Board Pressure Generation and Embedded Electro-permanent Magnet Valves. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_4
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DOI: https://doi.org/10.1007/978-3-319-00065-7_4
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