Design of an Underactuated Peristaltic Robot on Soft Terrain
Scott Scheraga,Alireza Mohammadi,Taehyung Kim,Stanley Baek,Scott Scheraga,Alireza Mohammadi,Taehyung Kim,Stanley Baek
This paper presents an innovative robotic mechanism for generating peristaltic motion for robotic locomotion systems. The designed underactuated peristaltic robot utilizes a minimum amount of electromechanical hardware. Such a minimal electromechanical design not only reduces the number of potential failure modes but also provides the robot design with great potential for scaling to larger and sma...
