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Autori principali:	Tianyu Zhao, Cheng Wang, Zhongbao Luo, Weiqi Cheng, Nan Xiang
Natura:	Artículo Open Access
Pubblicazione:	Wiley 2024
Soggetti:	Journal of Field Robotics
Accesso online:	https://onlinelibrary.wiley.com/doi/10.1002/rob.22388
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Soft crawling caterpillar driven by electrohydrodynamic pumps Tianyu Zhao Cheng Wang Zhongbao Luo Weiqi Cheng Nan Xiang Journal of Field Robotics AbstractSoft crawling robots are usually driven by bulky and complex external pneumatic or hydraulic actuators. In this work, we proposed a miniaturized soft crawling caterpillar based on electrohydrodynamic (EHD) pumps. The caterpillar was mainly composed of a flexible EHD pump for providing the driving force, an artificial muscle for performing the crawling, a fluid reservoir, and several stabilizers and auxiliary feet. To achieve better crawling performances for our caterpillar, the flow rate and pressure of the EHD pump were improved by using a curved electrode design. The electrode gap, electrode overlap length, channel height, electrode thickness, and electrode pair number of the EHD pump were further optimized for better performance. Compared with the EHD pumps with conventional straight electrodes, our EHD pump showed a 50% enhancement in driving pressure and a 60% increase in flow rate. The bending capability of the artificial muscles was also characterized, showing a maximum bending angle of over 50°. Then, the crawling ability of the soft crawling caterpillar is also tested. Finally, our caterpillar owns the advantages of simple fabrication, low‐cost, fast movement speed, and small footprint, which has robust and wide potential for practical use, especially over various terrains. 10.1002/rob.22388 http://onlinelibrary.wiley.com/termsAndConditions#vor

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

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