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The design of a knee joint is a key issue in robotics to improve the lo-comotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support p...
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Citations
Soft robots excel in safety and adaptability, yet their lack of structural integrity and dependency on open-curve movement paths restrict their dexterity. Conventional robots, albeit faster due to sturdy locomotion mechanisms, are typically less robust to physical insults. We introduce a new multi-material design and printing framework that extends classical mechanism design to soft robotics, synergizing the strengths of soft and rigid materials while mitigating their respective limitations. Using a tool-changer equipped with multiple extruders, we blend thermoplastics of varying Shore hardness into monolithic systems. Our strategy emulates joint-like structures through biomimicry to achieve terrestrial trajectory control while inheriting the resilience of soft robots. We demonstrate the framework by 3D printing a legged soft robotic system, comparing different mechanism syntheses and material combinations, along with their resulting movement patterns and speeds. The integration of electronics and encoders provides reliable closed-loop control for the robot, enabling its operation across various terrains including sand, soil, and rock environments. This cost-effective approach paves the way for a new era of 3D printed soft robots employable in real-world environments.
