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SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

LiZhou Niu, Liang Ding, ShengJie Zhang, HuaiGuang Yang, HaiBo Gao, ZongQuan Deng, GuangJun Liu, Mokarram Hossain Orcid Logo

Science China Technological Sciences, Volume: 66, Issue: 11, Pages: 3090 - 3106

Swansea University Author: Mokarram Hossain Orcid Logo

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DOI (Published version): 10.1007/s11431-023-2519-9

Abstract

Soft robots have tremendous potential for applications in various fields, owing to their safety and flexibility embedded at the material level. Soft robots, especially bio-inspired soft legged robots, have become one of the most active fields of current research in robotics thanks to their superior...

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Published in: Science China Technological Sciences
ISSN: 1674-7321 1869-1900
Published: Springer Science and Business Media LLC 2023
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URI: https://cronfa.swan.ac.uk/Record/cronfa64690
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last_indexed 2025-02-13T05:36:18Z
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spelling 2025-02-12T15:13:36.8772344 v2 64690 2023-10-10 SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration 140f4aa5c5ec18ec173c8542a7fddafd 0000-0002-4616-1104 Mokarram Hossain Mokarram Hossain true false 2023-10-10 ACEM Soft robots have tremendous potential for applications in various fields, owing to their safety and flexibility embedded at the material level. Soft robots, especially bio-inspired soft legged robots, have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex terrains. However, it is arduous to establish a dynamic simulation model for soft robots, owing to their hyper-redundant degrees of freedom, hyper-elasticity, and nonlinearity of their soft structures. In this study, we designed, simulated, and fabricated a hexapod robot that achieves walking, crawling, pronking, and rolling with wheeled legs plus a soft body capable of shape change. A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic networks. Actuators, battery power, and control boards were integrated into the body of the robot for untethered locomotion. We have explored the capabilities of the robot in different conditions, especially in scenarios that simulate lunar and Martian environments, demonstrating the motion performance of the robot. The results have shown promising potentials of the developed robot for future applications in planetary lava tube exploration. Our experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design, planning, and control. Journal Article Science China Technological Sciences 66 11 3090 3106 Springer Science and Business Media LLC 1674-7321 1869-1900 Multimodal, soft robot, pneumatic, simulation, planetary exploration 1 11 2023 2023-11-01 10.1007/s11431-023-2519-9 COLLEGE NANME Aerospace, Civil, Electrical, and Mechanical Engineering COLLEGE CODE ACEM Swansea University This work was supported by the National Key Research and Development Program of China (Grant No. 2019YFB1309500) and the National Natural Science Foundation of China (Grant Nos. 91948202 and 51822502). Hossain Mokarram acknowledges the support of the Royal Society through the International Exchange Grant (IECNSFC211316) with the National Natural Science Foundation of China (NSFC). 2025-02-12T15:13:36.8772344 2023-10-10T11:35:18.6820339 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering LiZhou Niu 1 Liang Ding 2 ShengJie Zhang 3 HuaiGuang Yang 4 HaiBo Gao 5 ZongQuan Deng 6 GuangJun Liu 7 Mokarram Hossain 0000-0002-4616-1104 8 64690__28757__5325c5c54ca94c63a489a1ea59f0bef3.pdf 64690.pdf 2023-10-10T11:44:08.7202049 Output 2060760 application/pdf Accepted Manuscript true 2024-09-28T00:00:00.0000000 true eng
title SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
spellingShingle SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
Mokarram Hossain
title_short SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
title_full SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
title_fullStr SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
title_full_unstemmed SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
title_sort SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration
author_id_str_mv 140f4aa5c5ec18ec173c8542a7fddafd
author_id_fullname_str_mv 140f4aa5c5ec18ec173c8542a7fddafd_***_Mokarram Hossain
author Mokarram Hossain
author2 LiZhou Niu
Liang Ding
ShengJie Zhang
HuaiGuang Yang
HaiBo Gao
ZongQuan Deng
GuangJun Liu
Mokarram Hossain
format Journal article
container_title Science China Technological Sciences
container_volume 66
container_issue 11
container_start_page 3090
publishDate 2023
institution Swansea University
issn 1674-7321
1869-1900
doi_str_mv 10.1007/s11431-023-2519-9
publisher Springer Science and Business Media LLC
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
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description Soft robots have tremendous potential for applications in various fields, owing to their safety and flexibility embedded at the material level. Soft robots, especially bio-inspired soft legged robots, have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex terrains. However, it is arduous to establish a dynamic simulation model for soft robots, owing to their hyper-redundant degrees of freedom, hyper-elasticity, and nonlinearity of their soft structures. In this study, we designed, simulated, and fabricated a hexapod robot that achieves walking, crawling, pronking, and rolling with wheeled legs plus a soft body capable of shape change. A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic networks. Actuators, battery power, and control boards were integrated into the body of the robot for untethered locomotion. We have explored the capabilities of the robot in different conditions, especially in scenarios that simulate lunar and Martian environments, demonstrating the motion performance of the robot. The results have shown promising potentials of the developed robot for future applications in planetary lava tube exploration. Our experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design, planning, and control.
published_date 2023-11-01T08:08:27Z
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score 11.0578165

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