Gait study and pattern generation of a starfish-like soft robot with flexible rays actuated by SMAs

• Main Authors: Mao, Shixin, Dong, Erbao, Jin, Hu, Xu, Min, Zhang, Shiwu, Yang, Jie, Low, Kin Huat
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Bioengineering
• Online Access: https://hdl.handle.net/10356/105059; http://hdl.handle.net/10220/20415
• Institution: Nanyang Technological University

This paper presents the design and development of a starfish-like soft robot with flexible rays and the implementation of multi-gait locomotion using Shape Memory Alloy (SMA) actuators. The design principle was inspired by the starfish, which possesses a remarkable symmetrical structure and soft int...