Worm-like robotic locomotion in flexible environment

D Zarrouk; I Sharf; M Shoham

doi:10.1007/978-90-481-9262-5_9

Worm-like robotic locomotion in flexible environment

D Zarrouk, I Sharf, M Shoham

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

Miniature crawling robots for medical purposes have been the issue of many studies in the past decade. The main challenge of this type of locomotion is the high flexibility of the tissue of biological vessels combined with the usually low friction coefficients. However, little has been done in the field of analyzing the interaction between the tissue and the robot. In a previous study, we presented the influence of the local compliance effects on the locomotion and developed the efficiency as a function of the number of cells, friction coefficients and tangential compliance. In this study we include the influence of the structural compliance on the locomotion analysis of two-cell worm robot.

Original language	English
Title of host publication	Advances in Robot Kinematics
Subtitle of host publication	Motion in Man and Machine
Editors	J. Lenarcic , M. Stanisic
Publisher	Springer, Dordrecht
Pages	81-89
Number of pages	9
ISBN (Electronic)	9789048192625
ISBN (Print)	9789048192618
DOIs	https://doi.org/10.1007/978-90-481-9262-5_9
State	Published - Jun 2010
Externally published	Yes

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10.1007/978-90-481-9262-5_9

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title = "Worm-like robotic locomotion in flexible environment",

abstract = "Miniature crawling robots for medical purposes have been the issue of many studies in the past decade. The main challenge of this type of locomotion is the high flexibility of the tissue of biological vessels combined with the usually low friction coefficients. However, little has been done in the field of analyzing the interaction between the tissue and the robot. In a previous study, we presented the influence of the local compliance effects on the locomotion and developed the efficiency as a function of the number of cells, friction coefficients and tangential compliance. In this study we include the influence of the structural compliance on the locomotion analysis of two-cell worm robot.",

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AB - Miniature crawling robots for medical purposes have been the issue of many studies in the past decade. The main challenge of this type of locomotion is the high flexibility of the tissue of biological vessels combined with the usually low friction coefficients. However, little has been done in the field of analyzing the interaction between the tissue and the robot. In a previous study, we presented the influence of the local compliance effects on the locomotion and developed the efficiency as a function of the number of cells, friction coefficients and tangential compliance. In this study we include the influence of the structural compliance on the locomotion analysis of two-cell worm robot.

U2 - 10.1007/978-90-481-9262-5_9

DO - 10.1007/978-90-481-9262-5_9

M3 - Chapter

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BT - Advances in Robot Kinematics

A2 - Lenarcic , J.

A2 - Stanisic, M.

PB - Springer, Dordrecht

ER -

Worm-like robotic locomotion in flexible environment

Abstract

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