Soft robots show excellent body compliance, adaptability, and mobility when coping with unstructured environments and human-robot interactions. However, the moving speed for soft locomotion robots is far from that of their rigid partners. Rolling locomotion can provide a promising solution for developing high-speed robots. Based on different rolling mechanisms, three rolling soft robot (RSR) prototypes with advantages of simplicity, lightweight, fast rolling speed, good compliance, and shock resistance are fabricated by using dielectric elastomer actuators. The experimental results demonstrate that the impulse-based and gravity-based RSRs can move both stably and continuously on the ground with a maximum speed higher than 1 blps (body length per second). The ballistic RSR exhibits a high rolling speed of ∼4.59 blps. And during its accelerating rolling process, the instantaneous rolling speed of the robot prototype reaches about 0.65 m/s (13.21 blps), which is much faster than most of the previously reported locomotion robots driven by soft responsive materials. The structure design and implementation methods based on different rolling mechanisms presented can provide guidance and inspiration for creating new, fast-moving, and hybrid mobility soft robots.
Keywords: DEMES; dielectric elastomer actuators; rolling mechanisms; soft locomotion robots.