@inproceedings{ae51ddef2af04325ac662638c54533c9,
title = "A pipe-climbing soft robot",
abstract = "This paper presents the design and testing of a bio-inspired soft pneumatic robot that can achieve locomotion along the outside of a cylinder. The robot uses soft pneumatic actuators called FREEs (Fiber Reinforced Elastomeric Enclosure), which can have a wide range of deformation behavior upon pressurization. The robot being soft and compliant can grasp and move along cylinders of varying dimensions. Two different types of FREEs are used in the robot namely (a) extending FREEs and (b) bending FREEs. These actuators are arranged in such a way that the bending actuators are used to grip the pipe while the extending actuators generate forward motion as well as bending for direction control. The modular design of the robot provides simplicity and ease of maintenance. The entire robot is made of flexible actuators and can withstand external impact with minimal to no damage. The maximum speed achieved for horizontal motion is 4.2 mm/s and for vertical motion is 2.1 mm/s.",
keywords = "Artificial muscles, Crawling Robot, McKibben muscles, Soft robotics",
author = "Gaurav Singh and Sreekalyan Patiballa and Xiaotian Zhang and Girish Krishnan",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",
year = "2019",
month = may,
doi = "10.1109/ICRA.2019.8793815",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "8450--8456",
booktitle = "2019 International Conference on Robotics and Automation, ICRA 2019",
address = "United States",
}