@inproceedings{6523d000d27a4885b026c9feaddfba1d,
title = "A rigid and soft combined robot that is designed to be used in confined spaces",
abstract = "This article describes a rigid and soft combined robot that is designed to be used in confined spaces. The robot is based on pneumatically actuated peristaltic motion. This motion is accomplished by the use of a pair of pneumatic annular grippers in concert with a novel pneumatic soft actuator. The actuator is capable of actuation and it is made of soft material. So it can passively adapt to the outside passage, with this characteristic the robot can navigate through some constrained environments that would otherwise be inaccessible with conventional rigid actuators. The annular grippers consist of six scissor structures wrapped around the cylinder which can dramatically increase the maximum diameter of the grippers. So the robot can adapt its shape to external constraints and obstacles. The robot also contains a 2-DOF pneumatic soft joint that promises the robot capable of changing its direction actively.",
keywords = "Annular gripper, Confined spaces, Soft actuator, Soft robot",
author = "Xingsong Wang and Mengqian Tian and Jianfei Chen and Xiang Li and Yu Xiao",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2017.; 4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 ; Conference date: 14-12-2015 Through 16-12-2015",
year = "2017",
doi = "10.1007/978-3-319-31293-4\_36",
language = "English",
isbn = "9783319312910",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
pages = "461--468",
editor = "Fakhri Karray and Jong-Hwan Kim and Hyun Myung and Jun Jo and Peter Sincak",
booktitle = "Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications",
address = "Germany",
}