title: Rotary Actuators Based on Pneumatically Driven Elastomeric Structures.
abstract: Unique elastomeric rotary actuators based on pneumatically driven peristaltic motion are demonstrated. Using silicone-based wheels, these motors enable a new class of soft locomotion not found in nature, which is capable of withstanding impact, traversing irregular terrain, and operating in water. For soft robotics, this work marks progress toward providing torque without bending actuators.
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA.
authors.forename: Xiangyu
authors.initials: X
authors.lastname: Gong
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA.
authors.forename: Ke
authors.initials: K
authors.lastname: Yang
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA.
authors.forename: Jingjin
authors.initials: J
authors.lastname: Xie
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA.
authors.forename: Yanjun
authors.initials: Y
authors.lastname: Wang
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA.
authors.forename: Parth
authors.initials: P
authors.lastname: Kulkarni
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA.
authors.forename: Alexander S
authors.initials: AS
authors.lastname: Hobbs
authors.affiliation: Department of Mechanical and Aerospace Engineering, Rutgers, the State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854, USA. aaron.mazzeo@rutgers.edu.
authors.forename: Aaron D
authors.initials: AD
authors.lastname: Mazzeo
keywords: elastomers; locomotion; peristalsis; pneumatics; soft robots; wheels