Crawling soft robot exploiting wheel-legs and multimodal locomotion for high terrestrial maneuverability

Xinpei Ai, Hengmao Yue, and Wei D. Wang*

IEEE Transactions on Robotics, 2023. 

​DOI: 10.1109/TRO.2023.3299530

Beomchan Kang, Seungseok Lim, Hyunjick Kim, and Wei D. Wang*, “Electrically driven robotic pistons exploiting liquid-vapor phase transition for underwater applications,” IEEE Robotics and Automation Letters, 8(4), 2118-2125 (2023). 

Haewon Jeong and Wei D. Wang*, “Self-adaptive detachable pneumatic soft actuators using uniformly distributed temporary-bonding-fasteners for wearable applications,” Sensors and Actuators A: Physical, 349, 114083 (2023). 

Wei D. Wang*, Zhengbing Ding, Yongkyu Lee, and Xu Han, “Engineering liquid-vapor phase transition for refreshable haptic interfaces,” Research, 2022, 9839815 (2022) (JCR2021 IF 11.036). 

Huiyan Yang#, Shiyan JIn#, and Wei D. Wang*, “Modular assembly of soft machines via multidirectional reclosable fasteners,” Advanced Intelligent Systems, 4(7), 2200048 (2022). (#equal contribution) (JCR2021 IF 7.298)

Jonghyun Hwang and Wei D. Wang*, “Shape memory alloy-based soft amphibious robot capable of seal-inspired locomotion,” Advanced Materials Technologies, 7(6), 2101153 (2022). (JCR2021 IF 8.856)

Beomchan Kang, Yongkyu Lee, Tailin Piao, Zhengbing Ding, and Wei D. Wang*, “Robotic soft swim bladder using liquid–vapor phase transition,” Materials Horizons, 8, 939–947 (2021). [Inside Back Cover] (JCR2021 IF 15.717)

W. Wang*, Y. Tang*, and C. Li, “Controlling bending deformation of a shape memory alloy-based soft planar gripper to grip deformable objects,” International Journal of Mechanical Sciences, 193, 106181 (2021). 

W. Wang*, C.Y. Yu, P.A.A Serrano, S.H. Ahn*, “Shape memory alloy-based soft finger with changeable bending length using targeted variable stiffness,” Soft Robotics, 7 (3), 283–291 (2020). 

W. Wang*, "Mechanical assembly of thermo-responsive polymer-based untethered shape-morphing structures,"  Macromolecular Materials and Engineering, 305 (1), 1900568 (2020).

H.B. Park, D. Kim, H. Kim, M.W. Han, W. Wang, S.H. Ahn*, “Design and analysis of artificial muscle robotic elbow joint using shape memory alloy actuator,” International Journal of Precision Engineering and Manufacturing, 21 (2), 249-256 (2020). 

W. Wang, C.Y. Yu, P.A.A Serrano, S.H. Ahn, “Soft grasping mechanisms composed of shape memory polymer based self-bending units,” Composites Part B: Engineering, 164, 198-204 (2019). 

C.H. Ahn, W. Wang, J. Jung, H. Rodrigue, “Pleated film‑based soft twisting actuator,” International Journal of Precision Engineering and Manufacturing, 20 (7), 1149-1158 (2019). 

W. Wang, C. Li, M. Cho, S.H. Ahn, “Soft tendril-inspired grippers: shape-morphing of programmable polymer-paper bilayer composites,” ACS Applied Materials & Interfaces, 10, 10419-10427 (2018).  

W. Wang, C. Li, H. Rodrigue, F. Yuan, M.W. Han, M.H. Cho, S.H. Ahn, “Kirigami/Origami-based Soft Deployable Reflector for Optical Beam Steering,” Advanced Functional Materials, 27, 1604214 (2017). 

Covered by Advanced Science News

W. Wang, N.G. Kim, H. Rodrigue, S.H. Ahn, “Modular Assembly of Soft Deployable Structures and Robots,"
Materials Horizons, 4, 367–376 (2017). [Front Cover]

Covered by Phys.org, Daily Mail, International Business Times, Kinova Robotics, Science et Vie, et al.

 W. Wang, S.H. Ahn, “Shape Memory Alloy-based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping,” Soft Robotics, 4, 379-389 (2017). 

H. Rodrigue, W. Wang, M.W. Han, J.Y. Kim, S.H. Ahn, “An Overview of Shape Memory Alloy-coupled Actuators and Robots,” Soft Robotics, 4, 3–15 (2017). 

H. Rodrigue, W. Wang, D.R. Kim, S.H. Ahn, "Curved Shape Memory Alloy-based Soft Actuators and Application to Soft Gripper," Composite Structures, 176, 398-406 (2017). 

W. Wang, H. Rodrigue, S.H. Ahn, “Deployable Soft Composite Structures,” Scientific Reports, 6, 20869 (2016).

Covered by Phys.org.

W. Wang, H. Rodrigue, H.I. Kim, M.W. Han, S.H. Ahn, “Soft Composite Hinge Actuator and Application to Compliant Robotic Gripper,” Composites Part B: Engineering, 98, 397–405 (2016). 

H. Rodrigue, W. Wang, M.W. Han, Y.J. Quan, and S.H. Ahn, “Comparison of Mold Designs for SMA-based Twisting Soft Actuator,” Sensors and Actuators A: Physical, 237, 96–106 (2016). 

W. Wang, H. Rodrigue, S.H. Ahn, “Smart Soft Composite Actuator with Shape Retention Capability using Embedded Fusible Alloy Structures,” Composites Part B: Engineering, 78, 507–514 (2015). 

H. Rodrigue, W. Wang, B. Bhandari, and S.H. Ahn, “Fabrication of Wrist-like SMA-based Actuator by Double Smart Soft Composite Casting,” Smart Materials and Structures, 24, 25003 (2015). 

H. Rodrigue, W. Wang, B. Bhandari, M.W. Han, and S.H. Ahn, “SMA-Based Smart Soft Composite Structure Capable of Multiple Modes of Actuation,” Composites Part B: Engineering, 82, 152-158 (2015). 

J.E. Shim, Y. Quan, W. Wang, H. Rodrigue, S.H. Song, and S.H. Ahn, “A Smart Soft Actuator using a Single Shape Memory Alloy for Twisting Actuation,” Smart Materials and Structures, 24, 125033 (2015). 

H. Rodrigue, B. Bhandari, W. Wang, and S.H. Ahn, “3D Soft Lithography: A Fabrication Process for Thermocurable Polymers,” Journal of Materials Processing Technology, 217, 302-309 (2015). 

W. Wang, H. Rodrigue, J.Y. Lee, M.W. Han, S.H. Ahn, “Smart Phone Robot made of Smart Soft Composite (SSC)," Composites Research, 28, 52-57 (2015).

H. Rodrigue, W. Wang, B. Bhandari, M.W. Han, and S.H. Ahn, “Cross-Shaped Twisting Structure using SMA-Based Smart Soft Composite,” International Journal of Precision Engineering and Manufacturing-Green Technology, 1, 153-156 (2014). 

W. Wang, J.Y. Lee, H. Rodrigue, S.H. Song, W.S. Chu, S.H. Ahn “Locomotion of Inchworm-inspired Robot made of Smart Soft Composite (SSC),” Bioinspiration & Biomimetics, 9, 046006 (2014). 

Covered by Phys.org