A Preliminary Study of the HPN Robot

Hao Sun; Bin Cheng; Ning Yang Wang; Xiao Ping Chen

doi:10.4028/www.scientific.net/AMM.575.726

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 575A Preliminary Study of the HPN Robot

A Preliminary Study of the HPN Robot

Abstract:

Soft robots are robots made of soft materials and actuators. Previously we proposed the HPN (Honeycomb PneuNets) Robot, where PneuNets were placed as actuators into honeycomb shaped elastomer. In this paper, we present some progress of this effort. A random search algorithm is applied to plan the obstacle-avoid movements of an HPN robot. We test it through several cases, and the results showed that the algorithm can work effectively. We introduce an HPN robot prototype, which is made of RTV-2 silicone rubber. Preliminary experiments showed that some good expansion rate and flexibility can be achieved. A piston and soft body simulation model of HPN robots is also presented, which can mimic the basic behaviors of the HPN robot.

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Periodical:

Applied Mechanics and Materials (Volume 575)

Pages:

726-730

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.575.726

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Online since:

June 2014

Authors:

Hao Sun*, Bin Cheng, Ning Yang Wang, Xiao Ping Chen

Keywords:

Honeycomb PneuNets, PhysX, Rapid Random Tree, Soft Robot

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