Design of centimeter-scale inchworm robots with bidirectional claws
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3197-3204, May, 2011
Abstract
We present the design and fabrication of centimeter scale robots, which use inchworm-like motion and bidirectional claws. Two prototypes for different locomotion goals were built utilizing these two characteristics: Type I is designed particularly for horizontal surfaces utilizing two linear actuators and compliant claws. This robot is capable of steering and straight motion by utilizing directionally anisotropic friction. Type II is a variant of Type I that is designed for locomotion on ferromagnetic ceilings or vertical planes by using permanent magnets. The Smart Composite Microstructures (SCM) technique enables versatile and multi-jointed meso-scale devices suitable for such robots.
BibTeX
@conference{Lee-2011-7295,author = {Dongwoo Lee and Sinbae Kim and Yong-Lae Park and Robert J. Wood},
title = {Design of centimeter-scale inchworm robots with bidirectional claws},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2011},
month = {May},
pages = {3197-3204},
}
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