Modeling and Development of a Climbing Soft Robot

• Applicant: Professorin Dr.-Ing. Kristin de Payrebrune
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics ; Mechanics
• Term: from 2014 to 2016
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 258667817

The goal of this research project is to describe soft robots by efficient mathematical methods and to show their potential application by a climbing prototype. Soft robots are a new kind of robots without a skeletal structure. They are manufactured from soft and highly deformable materials. Due to the use of soft materials complex and variable locomotion as well as special attributes are realizable which are essential for application in search or rescue situations, healthcare or cooperative human assistance. For design and description of such soft continua new robot models are needed. In this research project special theories of continuum mechanics and simple material models will be developed and adapted to manufactured prototypes of soft robots. The main focus lies on an efficient description of the deformation and locomotion of the robots as well as of the contact phenomena and control of the actuation. Based on the enhanced methods for soft continua a model will be developed to describe the characteristics of soft robots. Beside theoretical work two prototypes of a climbing soft robot will be manufactured. For the first one metal inlays will be implemented at the limbs of the robot and will be activated via an electric field. So climbing on metallic surfaces is possible. For the second prototype adhesive pads will be added on the limbs so it can climb on any kinds of rough or smooth walls. A special challenge is to synchronize the deformation of the limbs and the activation of the metallic inlays and adhesive pads. The work on sufficient mathematical descriptions of soft continua within this research project makes a contribution to the development of soft robots and possible applications will be shown with the prototypes.

• DFG Programme: Research Fellowships
• International Connection: USA
• Host: Professor Oliver M. O' Reilly