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Distributed Sensing for Soft Worm Robot Reduces Slip for Locomotion in Confined Environments

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Biomimetic and Biohybrid Systems (Living Machines 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10928))

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Abstract

Earthworms are soft-bodied animals with mechanosensory organs that allow them to bend and contort, and adapt to external perturbations. To mimic these attributes of the earthworm on a robotic platform, we designed and constructed a new robot: Distributed-Sensing Compliant Worm (DiSCo-Worm) Robot. DiSCo-Worm is equipped with 36 Force Sensing Resistors (6 per segment) that allow the robot to detect external constraints and 12 flexible stretch sensors (2 per segment) that allow for tracking the shape of the robot. We show the ability of the robot to navigate in constrained spaces using an open-loop, time-based controller and a closed-loop sensory feedback controller. The results indicate that the robot can sense external constraints and its internal state (longitudinal extension of each segment) and use this information to change its state of either expanding in diameter, contracting in diameter or anchoring. Sensory feedback reduces high forces that otherwise result in damage to the robot by stopping actuation shortly after contact. In this way, each segment applies forces 33% to 80% (based on the location of the sensor) of its weight, when locomoting between two parallel surfaces. Using a closed-loop controller, the robot is able to adapt to its environment and almost eliminates forward slip, which accounts for 58% of the total motion in case of open-loop control.

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Acknowledgments

This material is based upon work supported by the National Science Foundation under Grant No. NSF #1743475.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA

    Akhil Kandhari, Matthew C. Stover, Prithvi R. Jayachandran, Roger D. Quinn & Kathryn A. Daltorio

  2. Mayfield High School, Cleveland, OH, 44106, USA

    Alexander Rollins

  3. Departments of Biology, Neurosciences, and Biomedical Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA

    Hillel J. Chiel

Authors
  1. Akhil Kandhari
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  2. Matthew C. Stover
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  3. Prithvi R. Jayachandran
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  4. Alexander Rollins
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  5. Hillel J. Chiel
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  6. Roger D. Quinn
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  7. Kathryn A. Daltorio
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Corresponding author

Correspondence to Akhil Kandhari .

Editor information

Editors and Affiliations

  1. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Vasiliki Vouloutsi

  2. Laboratoire Interdisciplinaire des, Université Paris Diderot, Paris Cedex 13, France

    José Halloy

  3. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, United Kingdom

    Michael Mangan

  5. Bristol University, Bristol, United Kingdom

    Nathan Lepora

  6. University of Sheffield, Sheffield, United Kingdom

    Tony J. Prescott

  7. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Paul F.M.J. Verschure

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Kandhari, A. et al. (2018). Distributed Sensing for Soft Worm Robot Reduces Slip for Locomotion in Confined Environments. In: Vouloutsi , V., et al. Biomimetic and Biohybrid Systems. Living Machines 2018. Lecture Notes in Computer Science(), vol 10928. Springer, Cham. https://doi.org/10.1007/978-3-319-95972-6_25

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  • DOI: https://doi.org/10.1007/978-3-319-95972-6_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95971-9

  • Online ISBN: 978-3-319-95972-6

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