Shape memory alloy-based small crawling robots inspired by C. elegans

Inspired by its simple musculature, actuation and motion mechanisms, we have developed a small crawling robot that closely mimics the model organism of our choice: Caenorhabditis elegans. A thermal shape memory alloy (SMA) was selected as an actuator due to the similarities of its properties to C. elegans muscles. Based on the anatomy of C. elegans, a 12-unit robot was designed to generate a sinusoidal undulating motion. Each body unit consisting of a pair of SMA actuators is serially connected by rigid links with an embedded motion control circuit. A simple binary operation-based motion control mechanism was implemented using a microcontroller. The assembled robot can execute C. elegans-like motion with a 0.17 Hz undulation frequency. Its motion is comparable to that of a real worm.

[1]  Takeshi Goto,et al.  A Dynamic Body Model of the Nematode C. elegans with Neural Oscillators , 2005, J. Robotics Mechatronics.

[2]  P. Erdös,et al.  Theory of the locomotion of nematodes: Dynamics of undulatory progression on a surface. , 1991, Biophysical journal.

[3]  Shigeo Hirose,et al.  Biologically Inspired Snake-like Robots , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[4]  N. Cohen,et al.  Forward locomotion of the nematode C. elegans is achieved through modulation of a single gait , 2009, HFSP journal.

[5]  Paolo Dario,et al.  Development of a biomimetic miniature robotic crawler , 2006, Auton. Robots.

[6]  Yoseph Bar-Cohen,et al.  Electroactive polymers: current capabilities and challenges , 2002, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[7]  P. Arena,et al.  Design and Control of an IPMC Wormlike Robot , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[8]  B Mazzolai,et al.  Design of a biomimetic robotic octopus arm , 2009, Bioinspiration & biomimetics.

[9]  Auke Jan Ijspeert,et al.  Online Optimization of Swimming and Crawling in an Amphibious Snake Robot , 2008, IEEE Transactions on Robotics.

[10]  Auke Jan Ijspeert,et al.  Simulation and Robotics Studies of Salamander Locomotion Applying Neurobiological Principles to the Control of Locomotion in Robots , 2005 .

[11]  W. Ryu,et al.  Enhanced Caenorhabditis elegans Locomotion in a Structured Microfluidic Environment , 2008, PloS one.

[12]  G. Song,et al.  Control of shape memory alloy actuator using pulse width modulation , 2003 .

[13]  S. M. Coulthard,et al.  Artificial dirt: microfluidic substrates for nematode neurobiology and behavior. , 2008, Journal of Neurophysiology.

[14]  田中 佐.  Research article , 2000, Hydrobiologia.

[15]  S. Brenner,et al.  The structure of the nervous system of the nematode Caenorhabditis elegans. , 1986, Philosophical transactions of the Royal Society of London. Series B, Biological sciences.

[16]  N. Shinjo,et al.  Use of a shape memory alloy for the design of an oscillatory propulsion system , 2004, IEEE Journal of Oceanic Engineering.

[17]  P. Sauvage,et al.  An elasto-hydrodynamical model of friction for the locomotion of Caenorhabditis elegans. , 2011, Journal of biomechanics.

[18]  Kinji Asaka,et al.  Biomimetic Soft Robots Using IPMC , 2007 .

[19]  Rachel Z. Pytel,et al.  Artificial muscle technology: physical principles and naval prospects , 2004, IEEE Journal of Oceanic Engineering.

[20]  Chris Rogers,et al.  Caterpillar locomotion: A new model for soft- bodied climbing and burrowing robots , 2006 .

[21]  Sungho Jo,et al.  Design and control of thermal SMA based small crawling robot mimicking C. elegans , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  D. De Rossi,et al.  Biomimetic Dielectric Elastomer Actuators , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[23]  Paolo Dario,et al.  A SMA actuated artificial earthworm , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.