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The paper is aimed at establishing a platform of robotic fish propelled by paired pectoral fins, so as to research pectoral fin propulsion. Locomotion of nature sample, cow-nosed ray, was analyzed before simplified mathematical model was obtained for design of the robotic fish. Locomotion of the pectoral fins is equivalent to the pass of oscillating motion from front to back in the form of cubic function...
In this paper, we propose a robotic catapult based on closed elastica utilizing bending and twisting deformation of an elastic strip. By using snap-through buckling generated from not only bend but also twist of thin rectangle elastic strip, impulsive forces can be generated repeatedly by the frequency of 3[Hz] without changing added torque directions. The compact jumping robot based on the proposed...
A snake-like robot has an advantage in moving into a narrow space. Particularly “pedal wave”, which is one of its locomotion styles, is suitable for entering a thin path. However, pedal wave have been used only for going straight in most of the prior studies. In particular horizontal steering of pedal wave by a real robot has not been investigated sufficiently. Therefore in this paper we studied a...
This paper discusses the design of a new snake-like robot without wheels, named ACM-R7. It has 18 DOFs, is 1.6 m in length and weighs 11.7 kg. It features a water-tight structure, a large motion range pitch joint of ±90 degree and a high output-power actuator arrangement, based on the coupled drive concept. Furthermore the control method “Loop Gait” is discussed. For this gait the ACM-R7 forms a loop...
This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by locomotion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules-two Roombots modules connected serially-that...
This paper presents a novel formula describing traveling body wave in fish swimming, offering an enhanced understanding of the locomotion and body shape of those fish swimming by body and/or caudal fin (BCF) movements. The formula is mainly determined by the linear density of the fish, under the constraint that the center of mass of the fish is fixed on the axis along the swimming direction. Further,...
Many researchers have developed various robots with novel gaits that can travel on rough terrain where conventional vehicles or other robots cannot. Many of these robots are bio-inspired since there is lots of amazing locomotions in nature that enable movement through various obstacles. This paper presents a robot based on the motion of ascotis selenaria, a type of inchworm with a locomotion that...
Dynamic movement primitives (DMPs) have been proposed as a powerful, robust and adaptive tool for planning robot trajectories based on demonstrated example movements. Adaptation of DMPs to new task requirements becomes difficult when demonstrated trajectories are only available in joint space, because their parameters do not in general correspond to variables meaningful for the task. This problem...
Much like a falling cat can reorient itself to land on its feet, a climbing robot should also reorient itself to minimize damage during a fall. This paper presents and analyzes the dynamic motion of a modular robot, called CKbot righting itself during a fall. It presents a mathematical model of the falling system that correlates well with experimental reorientation results about one axis. The model...
This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting...
The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting...
In this paper, we build off results from geometric mechanics to gain fresh insight into the locomotion of underactuated systems. More specifically, we use the connection, which relates body velocity to internal shape changes, to create a set of vector fields on the shape space. Each of these fields corresponds to one component of the body velocity (forward, lateral, rotational), and together they...
In this paper, we introduce the concept of a novel robotic module, the ldquoR-Cellrdquo. R-Cell can be utilized in constructing distributed, homogeneous robotic systems. Each R-Cell is a rectangle endowed with: (a) motion capabilities provided by four revolutionary joints, each equipped with a clamping mechanism, and (b) deformation capabilities realized by four prismatic joints. The proposed module...
Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly difficult when obstacles are present in the manipulatorpsilas workspace. In this paper it is assumed that the obstacles can be approximated in a conservative way with discs. The goal is to represent the obstacles in the robot configuration space, in order to allow an efficient...
Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable set of heterogeneous modules. We present the design and implementation of a cubic closed-packed (CCP) joint...
Serpentine motion is the most commonly seen locomotion style for snakes. Hirose proposed his famous kinematic equation to describe the serpentine motion which is widely used in the locomotion of snake-like robots. Based on the equation, the serpentine motion has constant amplitude of bending angles for the whole length of a snake. However, based on the observation of a real snake, the bending angle...
In this paper, the purpose is to realize self-propelling ability of a snake like robot which travels in pipes. The robot consists of thirteen intelligent actuators and each actuator has a DC motor and a micro processor including a motor driver and communication function. Three control algorithms, force control, adjusting controls to changing pipe diameter and to curved pipe are proposed and programmed...
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