TY - GEN
T1 - Locomotion dynamics of a miniature wave-like robot, modeling and experiments
AU - Lee-Hee, Drory
AU - Zarrouk, David
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/1
Y1 - 2019/5/1
N2 - In a recent study, we developed a minimally actuated wave-like robot and analyzed its kinematics. In this paper, we present the dynamic locomotion analysis of a miniature version of this wave robot. We examine different crawling environments, determine under which conditions it can advance, and evaluate its propulsion force. We first developed two locomotion models to characterize the cases where the robot is crawling between two straight surfaces or over a single flat surface. We specified the conditions in which the robot will advance and the advance time ratio as a function of the friction forces and weight of the robot. Next, we developed highly flexible tube-like shapes that we molded from silicone rubber to experimentally test the forces acting on the robot inside these tubes. Finally, we designed a miniature model of the robot and experimentally validated its crawling conditions (see video).
AB - In a recent study, we developed a minimally actuated wave-like robot and analyzed its kinematics. In this paper, we present the dynamic locomotion analysis of a miniature version of this wave robot. We examine different crawling environments, determine under which conditions it can advance, and evaluate its propulsion force. We first developed two locomotion models to characterize the cases where the robot is crawling between two straight surfaces or over a single flat surface. We specified the conditions in which the robot will advance and the advance time ratio as a function of the friction forces and weight of the robot. Next, we developed highly flexible tube-like shapes that we molded from silicone rubber to experimentally test the forces acting on the robot inside these tubes. Finally, we designed a miniature model of the robot and experimentally validated its crawling conditions (see video).
UR - http://www.scopus.com/inward/record.url?scp=85071422079&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8794015
DO - 10.1109/ICRA.2019.8794015
M3 - Conference contribution
AN - SCOPUS:85071422079
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8422
EP - 8428
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -