Communications of the ACM
Seals Provided Inspiration for Waddling Robot
The researchers studied the movements of pinnipeds—the technical term given to fin-footed mammals such as seals, walruses, and sea lions—as an alternative to existing quadrupedal and soft-limbed robots.
Credit: Deposit Photos
Seals and other pinnipeds inspired a multi-institutional team of researchers to develop a waddling soft robot that reportedly features "improved degrees of freedom, gait trajectory diversity, limb dexterity, and payload capabilities."
The three-limbed robot locomotes via undulating movements while supported by a rigid "backbone" modeled after fin-footed mammals.
Each limb is propelled by liquid-filled pneumatic actuators to achieve varying levels of rigidity in order to control the robot's direction.
The researchers said the robot's symmetric weight distribution complicates its ability to remain stable while moving forward, although it can move faster when walking in reverse because its body counteracts the torque imbalance.
The team thinks such robots could find use in hazardous operations like search and rescue missions, nuclear site inspections, and even planetary exploration.
From Popular Science
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