The AmoeBot: A Bioinspired Soft Robot with Nitinol Wire Actuation and Gecko-like Adhesion

Student’s name: Kirsten Gellhaus Home Institution: Mesa Community College NNCI Site: NCI-SW @ NAU REU Principal Investigator: Prof. Carlo R. da Cunha, Ph.D. – School of Informatics, Computing, and Cyber Systems REU Mentors: Benjamin Reed, Guilherme Giardini, John Hardy, and Koushik Tinku, School of Informatics, Computing, and Cyber Systems, Northern Arizona University Abstract: The AmoeBot is an innovative soft robot designed for dynamic movement and surface adaptability. Constructed primarily from silicone, the AmoeBot features a four-legged amoeba-like shape with an elevated body and movement driven by soft actuation mechanisms utilizing nitinol wire. Nitinol, also known as muscle wire, is a shape-memory alloy (SMA) composed of nickel and titanium. It is controlled by pulsed electrical currents that contract the wire when heated and expand once cooled. The design allows for flexible movement while maintaining low power consumption. A distinguishing feature of the AmoeBot is its ability to climb various surfaces, facilitated by gecko-inspired foot pads. These foot pads are fabricated using hydrogels as templates, which induce the silicone to develop a mesoporous structure. This structure enhances the van der Waals forces responsible for the adhesion mechanisms of gecko setae, enabling the robot to adhere to surfaces in a similar manner. Additionally, the AmoeBot is equipped with a neural processing unit (NPU) inspired by the adaptability of animal groups governed by collective behavior, such as flocks of birds. This NPU allows the AmoeBot to make decisions and coordinate actions similarly to biological systems. By integrating and testing a variety of bioinspired traits, the AmoeBot aims to advance future research and development of multifaceted soft robots, with potential applications in search and rescue, medical devices, pipe inspections, and much more.