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Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator
MIT, USA.
MIT, USA.
MIT, USA.
University of California, USA.
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2010 (Engelska)Ingår i: 2010 IEEE international conference on robotics and automation, Piscataway, N.J.: IEEE Press, 2010, s. 5207-5212Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described. ©2010 IEEE.

Ort, förlag, år, upplaga, sidor
Piscataway, N.J.: IEEE Press, 2010. s. 5207-5212
Serie
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20744DOI: 10.1109/ROBOT.2010.5509247ISI: 000284150000123Scopus ID: 2-s2.0-77955806258ISBN: 978-142445038-1 OAI: oai:DiVA.org:hh-20744DiVA, id: diva2:586843
Konferens
IEEE International Conference on Robotics and Automation (ICRA), MAY 03-08, 2010, Anchorage, AK
Tillgänglig från: 2013-01-13 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

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Iagnemma, Karl

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Robotteknik och automation

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