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Inchworm inspired Omega-Shape robot

This robot is based on the motion of ascotis selenaria, a type of inchworm with a locomotion that has an omega shape bending motion in between the extension motions. This type of inchworm can travel approximately its body length per stroke on a rough surfaces, leaf edges and branches of trees. The robot is built with smart composite microstructures, a fabrication method that uses laser micromachining to cut composites and assemble them into micro structures. The robot is actuated with a single shape memory alloy coil actuator.

There is a lot of design parameters in the SCM 2D-pattern design. For example, SMA coil actuators solder position can change the bending angle of a flexure joint, and various geometric parameters exist on 2D pattern design of SCM Universal joint like e.g. angle of each triangle shape and length of square. These parameters affect the final performance of the robot and energy consumption.

Keywords : #Crawling, #Smart material


Related papers and patents

Jesung Koh, Kyujin Cho, “Omegabot: Biomimetic inchworm robot using sma coil actuator and smart composite microstructures (scm)”, Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1154–1159, 2009. [PDF]

Jesung Koh, Kyujin Cho, “Omegabot: Crawling Robot Inspired by Ascotis Selenaria”, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp.109-114, 2010. [PDF]

Jesung Koh, Sungmin An and Kyujin Cho, “Finger-sized climbing robot using artificial proleg”, Proceeding of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 610–615, 2010. [PDF]

]Jesung Koh and Kyujin Cho, “Omega-Shaped Inchworm-Inspired Crawling Robot With Large-Index-and-Pitch (LIP) SMA Spring Actuators,” IEEE/ASME Transactions on Mechatronics, vol. 18, no. 2, pp. 419–429, Apr. 2013. [PDF]

Related papers and patents


· E-mail : kjs15 at
· Affiliation :  Professor of Ajou University


Je-Sung Koh​

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