Self-excited valve using a flat ring tube: Application to robotics

Nabae, Hiroyuki and Kitamura, Eigo (2022) Self-excited valve using a flat ring tube: Application to robotics. Frontiers in Robotics and AI, 9. ISSN 2296-9144

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Abstract

Complex and bulky driving systems are among the main issues for soft robots driven by pneumatic actuators. Self-excited oscillation is a promising approach for dealing with this problem: oscillatory actuation is generated from non-oscillatory input. However, small varieties of self-excited pneumatic actuators currently limit their applications. We present a simple, self-excited pneumatic valve that uses a flat ring tube (FRT), a device originally developed as a self-excited pneumatic actuator. First, we explore the driving principle of the self-excited valve and investigate the effect of the flow rate and FRT length on its driving frequency. Then, a locomotive robot containing the valve is demonstrated. The prototype succeeded in walking at 5.2 mm/s when the oscillation frequency of the valve was 1.5 Hz, showing the applicability of the proposed valve to soft robotics.

Item Type: Article
Subjects: ScienceOpen Library > Mathematical Science
Depositing User: Managing Editor
Date Deposited: 16 Jun 2023 04:12
Last Modified: 06 Jul 2024 07:20
URI: http://scholar.researcherseuropeans.com/id/eprint/1571

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