The motor-tendon actuator is implemented to control the bending motion of the four soft legs of the robot. Then, gait crawling was developed to adapt the four-legged starfish's soft robot in adaptation to the environment in order to pass an obstacle that prevents the robot's movement.
Embedded Gait Pattern
Similar to the right Fourier coefficient, the left Fourier coefficient has the same value as the forward motion. The value of left Fourier coefficient can also be implemented for right actuator for left turn movements.
Results and Discussion
Experimental Test in Various Terrains
- Smooth Terrain
- Terrain with Small Obstacle
- Terrain with Impassable Obstacle
- Displacement and Velocity
This test is performed to determine how far the four-legged starfish soft robot deviates from a straight track line. In terrain with uneven surfaces, the surface conditions are uneven, so the robot's displacement value fluctuates.
Loading Test
Wireless Communication Range Test
16 shows the test scheme and the effect of battery capacity conditions on the wireless communication range. From the results of this test, it was found that the maximum distance for wireless communication under the condition of a 100% battery capacity is 46 m.
Conclusions
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Title of paper
Address all the concerns/recommendations of the reviewers
All amendments made are to be highlighted in red color in the revised paper
Reviewer # 1 Final
Recommendation
Accepted without modification
Accepted with minor corrections
Accepted with major modification
Rejected
Final
- Technical aspects
- Communications aspects
- Comments to the authors (You may use another sheet of paper.) 1. Please highlight the main objectives
- No modelling or pre-analytical work in the design. Load testing was conducted but there was no evidence of how initial design supposed to function or capable to perform
- Is Figure 9 necessary? Not reflecting any significant evidence through illustration
- Design selected parameters were not justified. Why design started with starfish?
- Recommendation (Tick one)
- Comments to the editors (These comments will not be sent to the authors)
Paper Title: MULTIPLE GAIT STRATEGIES FOR A FOURLEGGED STARFISH SOFT ROBOT INCORPORATING A MOTOR-TENDON ACTUATOR. Without highlighting the knowledge gap of a similar approach in the motor tendon actuator or the soft leg mechanism.
REVIEW FORM
Comments to the authors (You may use another sheet of paper.) Please consider the comments below
- Is there any other motor-tendon type actuator been realized in soft robot currently? If yes, do include them in the literature survey and state how is your work differ/improve from theirs
- To talk about strengths and weakness of the body design, it is suggested that FEA should be carried out on each of the design to see which has the most optimal shapes for the robot
- There is no need to show Equation (1) to (3) as those are standard Fourier Series formulation
- In Figure 10, please explain the white arrow in the figure
Comments to the authors (You may use another sheet of paper.)
- Introduction
- Design and Manufacture
- Design and Leg Manufacture
- Body Design
- Electrical Design
- Gait Generation
By using the Fourier series as the robot gait generation, the walking speed of the soft robot can be easily adjusted. In this study, the initial design of the proposed soft leg incorporating the motor tendon actuator has been experimentally performed.
Recommendation modification corrections modification
Most of the soft robot ground locomotion that have been previously developed and actuated by the motor tendon actuator used soft body deformation for crawling motion. Using the match found in the soft robot structure, the motor tendon actuator is used to control the angle of the developed soft leg band. To talk about the strengths and weaknesses of the body design, it is suggested that FEA should be performed on each of the models to see which one has the most optimal shape for the robot.
Based on the performed safety factor analysis, the value of the safety factor of each body is strong enough to hold the load, especially for designs (a) and (c). As for the inside of the body, there are four servo motors that must work in non-hot environmental conditions. Therefore, the design of the body (c) is chosen because the safety factor values are sufficient and there is an air flow to maintain the temperature of the servo motors.
Equation (1) shows the Fourier series equation of order 6 used for the gait generation of the robot's motion on both the undulating and crawling gaits. We reviewed the figure where the direction of the white arrow shows an example of the small obstacle used in this experiment in the form of the bottled water as follows:.
Reviewer # 3 Final
We have added more explanations regarding the generation of gait based on Fourier series and Tables 2 and 3. The embedded gait pattern implemented in the proposed robot uses the equation from Fourier series. The Fourier series is chosen because it is one of the periodic functions that can fit the walking motion for both undulating and crawling gaits.
In addition, by implementing this Fourier equation as the gait generation, the speed of robot movement will be more easily regulated by giving different value at angular frequency. While the parameters used in the Fourier series can be summarized as in Table 3. The parameters in Table 3 can be obtained by using curve fitting toolbox in MATLAB software. The sample points of undulating and creeping corridors as shown in Fig. 6 is run in the curve fitting toolbox to obtain the parameters as summarized in Table 3 using Fourier series as curve fitting.
The parameters in Table 4 are obtained experimentally for the optimal gait for walking on longitudinal, lateral and turning roads.
Reviewer # 4 Final
Gait Pattern
The right and left turns of the starfish quadruped soft robot have the same Fourier equation except for different phases. The coefficient value of the right leg in the right turn movement can be applied to the left actuator in the left turn movement. The developed block diagram model of gait generation in Simulink environment is shown in Fig.
To find out the effectiveness of the proposed gait generation strategy applied to the four-legged starfish soft robot, an experimental test was conducted. Based on the test results, it can be seen that the undulating strategy applied to the two flat terrains on smooth and rough surfaces has been successfully completed, and the robot can walk on the surface of the carpet and paving stone. From all the measurement results obtained, the linear velocity value of the four-legged starfish soft robot can be calculated in each field.
One of the tests to run is the wireless communication range used on the quadrupedal starfish soft robot. Based on the results of the track tests performed, it can be concluded that the higher the speed of the robot, the higher the deviation value from the straight line.
Letter of Acceptance To Whom It May Concern
Volume 15, Issue 4 (August 2020)
Manuscript ID: ME19093 - Camera Ready paper
JESTEC Camera ready_ME19093_Multigait strategy for soft robot.docx 7986K
Tests are performed to determine the robot's ability to pass through small and impassable obstacles. Motor tendon actuators were implemented in soft robot locomotion to control soft body deformation for crawling motion [16–21]. The bending and untwisting motion of the soft legs can be used for locomotion of the proposed soft robot.
The soft robot body is designed so that the center of gravity (CoG) is at the center of the soft robot body. The design, manufacture and previous test of the soft leg can be found in reference [24]. The formed flexion angle of the soft leg is used as the motion of the proposed robot.
In this study, the movement patterns of starfish are studied based on the sequence of foot movements. The gain itself is a large angle set for the movement of the servo motor when moving the soft leg of the robot.
Issue 4 / for immediate action /Paper #10
- Design and leg manufacture
- Body design
- Electrical design
- Gait pattern
- Experimental test in various terrains
- Smooth terrain
- Terrain with small obstacle
- Terrain with impassable obstacle
- Trajectory, displacement and speed 1. Walking trajectory
- Displacement and velocity
- Loading test
- Wireless communication range test
A soft robot with a motor-tendon actuator was developed by controlling the deformation of the soft body as robot locomotion behavior [18]. Using compliance found in soft robotic structure, the motor-tendon actuator is used to control the band angle of the developed soft bone. To move the soft leg of the robot, the servo motor pulls the tendon connected to the tip of the soft leg away from the robot to produce bending motion.
The straightening/bending motion of the robot leg can be performed using the elasticity of the soft leg material and structure. The four production results of the initial soft leg motor tendons are shown in Figure XX(Y). The right and left turns of the four-legged soft starfish robot have the same Fourier equation, except in different phases.
Main level embedded multi-walk generation system of proposed soft robot on Arduino microcontroller. The path errors arising in the walking trajectory of the soft robot gait occur due to the imperfect manufacturing process of the soft leg. Using the matching found in the soft robot structure, the motor tendon actuator is used to control the flexion angle of the developed soft leg.
The path errors that arise in walking trajectory of the soft robot walker occur due to the imperfect manufacturing process of the soft leg.
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Embedded gait pattern
The Fourier series was selected because it is one of the periodic functions that match the walking motion for both undulating and crawling gaits. The difference between these two movements lies in the curve fitting graph and the Fourier coefficients of the generated gait. The value of the left Fourier coefficient before the right movement is equal to the value of the actuator coefficient behind the forward movement.
The crawling walking strategy was not implemented because the mass and dimensions of the robot are large, so the movement of the robot in overcoming obstacles experienced interference. Robot walking implements the same Fourier equation walking with the same coefficients and angular frequency, but uses different phase angles for forward and backward walking. By moving the robot straight forward to walk up to 500 mm, data collection can be done to find out what the speed ratio of the quadruped starfish soft robot is for both fields and what the number of steps of undertaken and the travel time to reach that distance.
According to the test results, the movement of the robot on the tile floor is very small, because at the angular velocity of 5.1 rad/s and 6.1 rad/s, slippage occurs, causing the robot to move very little in each step. This test is performed by loading in steps, from a weight of 51 grams to a load weight where the robot cannot stand while carrying the load.
