DTAR – A Dynamic, Tube Ascending Robot
Journal Article, IEEE Transactions on Robotics, Vol. 27, No. 2, pp. 360 - 364, April, 2011
Abstract
This paper investigates a novel minimalistic mechanism that ascends tubes. The mechanism is comprised of only a rigid body, two O-rings, and a motor rotating an eccentric mass. We describe the underlying locomotion principle of rocking and jamming, without the use of special bristles or spines, and demonstrate the robustness of this mechanism.
BibTeX
@article{Degani-2011-121284,author = {Amir Degani and Howie Choset and Matthew T. Mason},
title = {DTAR - A Dynamic, Tube Ascending Robot},
journal = {IEEE Transactions on Robotics},
year = {2011},
month = {April},
volume = {27},
number = {2},
pages = {360 - 364},
}
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