Locomotion dynamics of a miniature wave-like robot, modeling and experiments

Drory Lee-Hee, David Zarrouk

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

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).

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8422-8428
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - 1 May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Country/TerritoryCanada
CityMontreal
Period20/05/1924/05/19

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