A Crawling Robot That Utilizes Propagation of Deformation Waves of a Bistable Lattice Actuated by a Single Motor

Abstract

This study presents a crawl robot driven by a single actuator using a bistable lattice structure. The propagation of deformation waves through a bistable lattice realizes the crawling motion of the robot. Bistable structures with energy differences between the two stable states and reset mechanism enable easy and intermittent wave propagation. By softening its body, the robot can change its direction along a curved rail during locomotion. The experimental results of the prototype show that the robot can produce locomotion on straight, curved, and slope-ascending rails.