Crab-Inspired Amphibious Legged Robots with Variable Stiffness Shells for Morphological Adaptation
Abstract
Dr. Tolley will develop a crab-inspired robot using several innovative approaches. The robot will be able to transition between soft shell hydrostat and hard shell precision legged robot. The robot will be internally actuated hydraulically, with pleated actuators at the joints. The rear appendages will be able to transform to paddles to accommodate swimming. The appendage gaits will match those of real crabs. Laminated 3D printed jamming prototypes will be created to enable transformation between hard and soft shells. These crab robots can be stacked as flat structures, then inflated for use. In soft body mode, the robot will be able to squeeze through narrow spaces. He is collaborating with a crab biologist. The proposed research addresses priority areas of amphibious robots and soft robotics within the ONR Bio-Inspired Autonomous Systems Program.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jul 10, 2018
- Source ID
- N000141812277
Entities
People
- Michael T Tolley
Organizations
- Office of Naval Research
- United States Navy
- University of California, San Diego