Figure 5
From: An earthworm-like modular soft robot for locomotion in multi-terrain environments
Actuator characterization and locomotion setup. (a) (i) Aurora Electromagnetic tracer system (NDI) mounted on top of PSA to measure its deformation when actuated giving an estimate of the antagonistic behavior. (ii) Loadcell with an end plate restricting the longitudinal deformation of the PSA was used to measure its blocked force. (iii) End plate was replaced with a top plate containing 6 equidistant holes. 6 strings attached to the bottom of the actuator passed along the surface of the PSA to the top plate translating the radial force to tensile force for the loadcell. (b) (i) Pneumatic setup to perform locomotion experiments containing electrovalve arrays to generate different gait patterns. Schematic (ii) variation of actuator pressure throughout the robot comparing EGP and CGP for two complete locomotion cycles.
