Full Content is available to subscribers

Subscribe/Learn More  >

Development of Active Mechanical Models for Flexible Robots to Duplicate the Motion of Inch Worms and Snakes

[+] Author Affiliations
Oscar Rios, Takeyuki Ono, Hidenori Murakami

University of California, San Diego, La Jolla, CA

Paper No. IMECE2016-65550, pp. V04AT05A009; 13 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5054-1
  • Copyright © 2016 by ASME


Due to the advent of pneumatic actuators, tendon-actuation mechanisms, and artificial muscles, an increasing number of robot engineers are developing flexible and soft robots. The emergence of soft and flexible robotics has offered new methods of locomotion that have applications in a wide variety of sectors. The research presented here focuses on developing mechanical models for such flexible robots. Two models are developed that will aid the modeling of soft robotics: (i) a discrete multi-body model consisting of jointed cylindrical segments and (ii) a thorough continuous beam model with internal actuation. The mechanical models serve as indicators of the necessary internal actuation for soft robots to reproduce or mimic the observed or necessary motion.

Copyright © 2016 by ASME
Topics: Robots



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In