naa a22 4500 510823912 CHVBK 20180411083547.0 cr unu---uuuuu 180411e20130801xx s 000 0 eng 10.1007/s12541-013-0194-8 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0194-8 Deformable-wheel robot based on soft material [Elektronische Daten] [Dae-Young Lee, Je-Sung Koh, Ji-Suk Kim, Seung-Won Kim, Kyu-Jin Cho] Soft robotics, a concept contrary to conventional "hard” robotics, is a robot design methodology that uses soft materials inspired by nature. In contrast to a hard robot, a soft robot is composed of soft and flexible materials that blur the distinction between an actuator and a structure, which leads to unique characteristics that cannot be found in a conventional hard robot. This paper presents our approach to the issues that arise when the concept of soft robotics is applied to a wheeled robot. The compliance of the wheel diversifies its potential movement and allows for a high degree of adaptability to the environment. Although the wheel radius of the robot is 50 mm, it can pass through a 30 mm gap and climb a 45 mm step. While soft robotics displays properties whose performance can be challenging to implement, it also enables us to create complex forms of movement in a cheaper and simpler way. We expect that this kind of approach can provide a new design method for a deformable wheel. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Soft robotics nationallicence Deformable wheel nationallicence Morphing structure nationallicence Shape memory alloy nationallicence Smart composite nationallicence Lee Dae-Young School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut Koh Je-Sung School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut Kim Ji-Suk School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut Kim Seung-Won School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut Cho Kyu-Jin School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/8(2013-08-01), 1439-1445 2234-7593 14:8<1439 2013 14 12541 https://doi.org/10.1007/s12541-013-0194-8 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0194-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Lee Dae-Young School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut NATIONALLICENCE 700 1- Koh Je-Sung School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut NATIONALLICENCE 700 1- Kim Ji-Suk School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut NATIONALLICENCE 700 1- Kim Seung-Won School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut NATIONALLICENCE 700 1- Cho Kyu-Jin School of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National University, Gwanak 1 Gwanak-ro Gwanak-gu, 151-742, Seoul, South Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/8(2013-08-01), 1439-1445 2234-7593 14:8<1439 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer