Motion sequence of the electrohydraulic rolling soft wheel around a pivot on a square platform

Electro-Hydraulic Rolling Soft Wheel: Design, Hybrid Dynamic Modeling, and Model Predictive Control

May 2, 2022

Locomotion through rolling is attractive compared to other forms of locomotion thanks to uniform designs, high degree of mobility, dynamic stability, and self-recovery from collision. Despite previous efforts to design rolling soft systems, pneumatic and other soft actuators are often limited in terms of high-speed dynamics, system integration, and/or functionalities...