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A modular crawler-driven robot: Mechanical design and preliminary experiments

Qiquan Quan, Shugen Ma
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A modular concept for the crawler is proposed for enlarging its use in robot systems and mechanical design of a modular crawler is conducted.  ...  Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design.  ...  Ming Chen who provided valuable advice on the mechanical design of the modular crawler; Mr. Hiroyuki Sugimoto, who gave effective suggestions for improving the machining process of the parts; and Mr.  ... 
doi:10.1109/iros.2009.5354146 dblp:conf/iros/QuanM09 fatcat:chelcluiybcojjc3ulbfilot3y

Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot

Richard M. Voyles, Roy Godzdanker
2008 2008 IEEE International Workshop on Safety, Security and Rescue Robotics  
This paper describes the design of a transverse tread module with unique buckling grousers that creates a tread/limb hybrid robot capable of both forward locomotion and transverse locomotion.  ...  Initially designed as add-on modules to the TerminatorBot limbed crawler to create limb/tread hybrid robots, the modules can also be assembled with one another to produce holonomic differential drive robots  ...  The TerminatorBot -or CRAWLER, for Cylindrical Robot for Autonomous Walking and Lifting during Emergency Response -employs a reconfigurable design philosophy to keep the robot small and light.  ... 
doi:10.1109/ssrr.2008.4745878 fatcat:qgzejuppszabri6ipcoobjhc5e

Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection

Sergio Leggieri, Carlo Canali, Ferdinando Cannella, Jinoh Lee, Darwin G. Caldwell
2021 2021 20th International Conference on Advanced Robotics (ICAR)  
In this work, we propose a design of a hybrid platform in the context of industrial inspection tasks. The aim is to address versatility issues exploiting modularity and self-reconfigurability.  ...  For dealing with challenging conditions, the two crawlers will dock together, reconfiguring into a snake-like robot.  ...  The platform consists of two modular vehicles and a mobile main base. Here, we focused on the crawler design and we described the most important features.  ... 
doi:10.1109/icar53236.2021.9659426 fatcat:5yy7b7kmcnhuvnjagtx6hrjd6i

Inspiration From Games and Entertainment Artifacts: A Rising Paradigm for Designing Mechanisms and Algorithms in Robotics

Ning Tan, Nishaan Brahmananthan, Rajesh Elara Mohan, Veerajagadheswar Prabakaran
2019 Frontiers in Robotics and AI  
However, there is a lack of systematic and general process for implementing a GEA-inspired design for developing robot-related applications.  ...  The design paradigm could follow two different processes which are driven by problems and solutions, respectively, using analogies of games and entertainment artifacts to build robotic solutions for solving  ...  This research was supported by the grant of Ermine: A Self-Reconfigurable Class of Maintenance Robots, National Robotics Programme -Robotics Enabling Capabilities and Technologies, Singapore.  ... 
doi:10.3389/frobt.2019.00003 pmid:33501020 pmcid:PMC7805903 fatcat:hj7lejcqavfznfnqkl7nxktxki

Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment

Kundong Wang, Wencan Gao, Shugen Ma
2017 Applied Sciences  
A multi-gait is established and used as a reference for the articulation design. A non-snake-like mechanism with linear articulation is combined with the classical swing joint.  ...  Moreover, a solution related to multi-gait realization and kinematics analysis was discussed in our laboratory. As preliminary work, a prototype was proposed and experiments were performed [14, 15] .  ...  Articulation Modular Design The independent articulation modular integrates the mechanical design and the electrical system.  ... 
doi:10.3390/app7111133 fatcat:5aafi6mbprg2ncb3i5tklr7dgm

Service Robots and Humanitarian Demining [chapter]

Maki K.
2006 Mobile Robots: towards New Applications  
COMET III has 2 crawler and 6 legs walking/running robot with two arms in the front. It is driven by hydraulic power. The robot weight 990 kg, its length 4m, width 2.5m, and height 0.8 m.  ...  experiments in order to design and test viable solutions for humanitarian demining.  ...  This book is the result of inspirations and contributions from many researchers worldwide. It presents a collection of wide range research results of robotics scientific community.  ... 
doi:10.5772/4704 fatcat:vwyqtpiyibgbzh535u3pdvlv4u

Auxiliary Motive Power for TerminatorBot: An Actuator Toolbox

Richard M. Voyles, Roy Godzdanker, Tae-Ho Kim
2007 2007 IEEE International Workshop on Safety, Security and Rescue Robotics  
The robot can be statically reconfigured with both sensors and actuators for particular applications by way of the Morphing Bus.  ...  This paper focuses on three modules, still in the prototyping stage, for adding bulk motive force to the robot in a hybrid fashion. Methods of channeling the motive force are also discussed.  ...  THE MOTIVE TOOLBOX To augment the locomotive capabilities of the CRAWLER, we are designing a selection of modular add-ons to enhance the static reconfigurability of the robotic system.  ... 
doi:10.1109/ssrr.2007.4381258 fatcat:uhzbrqkhv5fznj6lt2zssass4e

Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic [article]

Haihang Wang, He Xu, Chen Yang, Xin Li, Siqing Chen
2021 arXiv   pre-print
A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function.  ...  The soft robot hand was controlled based on water hydraulic platform, Finally, the soft robot hand and the fine fluid control system were connected to form the underwater soft robot hand experiment platform  ...  Its soft palm is designed in modular design approach, which includes two parts: Part A and B.  ... 
arXiv:2106.07011v1 fatcat:kdqam4vd3ncefolgtziw4hp7qq

Design of the Crawler Units: Toward the Development of a Novel Hybrid Platform for Infrastructure Inspection

Sergio Leggieri, Carlo Canali, Darwin G. Caldwell
2022 Applied Sciences  
In this work, a novel Hybrid Platform for inspection in industrial contexts is proposed, focusing on the design and testing of the Crawler Unit.  ...  The goal is to solve versatility related issues exploiting modularity and self-reconfigurability. The Hybrid Platform consists of three main systems: a mobile Main Base and two Crawler Units.  ...  The investors had no role in the design of the study, in the collection, analyses, or interpretation of data, in the writing of the manuscript, or in the decision to publish the results.  ... 
doi:10.3390/app12115579 fatcat:7ykyyjkmubhahhrq67reruzsee

A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone

Wenkai Huang, Wei Hu, Tao Zou, Junlong Xiao, Puwei Lu, Hongquan Li
2021 Sensors  
Based on a modular design and inspired by leech peristalsis and internal soft-bone connection, a bionic crawling modular wall-climbing robot is proposed in this paper.  ...  Most existing wall-climbing robots have a fixed range of load capacity and a step distance that is small and mostly immutable.  ...  wheeled and crawler wall-climbing robots.  ... 
doi:10.3390/s21227538 pmid:34833614 pmcid:PMC8622837 fatcat:xd6bmigy4vh5xio22esocryfsq

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
Abstract This paper describes the design of a platform for measure forces in a model helicopter, the calibration method used, and the experiments in the platform.  ...  A preliminary study of force distribution in non-linearly actuated humanoid robot lower extremities is presented.  ...  Peristaltic locomotion: application to a worm-like robot Abstract New solutions in explorative and service robotics are required in many application fields, e.g. medical and inspection/maintenance/rescue  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

Review of smart robots for fruit and vegetable picking in agriculture

Zhiheng Wang&Yi Xun&Yingkuan Wang&Qinghua Yang, 1. Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education & Zhejiang Province, College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China, 2. Academy of Agricultural Planning and Engineering, Ministry of Agriculture and Rural Affairs, Beijing 100125, China, 3. Chinese Society of Agricultural Engineering, Beijing 100125, China
2021 International Journal of Agricultural and Biological Engineering  
Five perspectives were proposed covering the robotic arms, end effectors, vision systems, picking environments, and picking performance for the large-scale mechanized production of fruits and vegetables  ...  The fruit and vegetable picking has posed a great challenge on the production and markets during the harvest season.  ...  A picking robot using modular design A modular design concept is adopted for the citrus picking robot that was developed by the School of Mechanical Engineering of Chongqing University.  ... 
doi:10.25165/j.ijabe.20221501.7232 fatcat:fbjk4oa76rf2jechngxf4m4svi

Humanitarian Demining: Reality and the Challenge of Technology – The State of the Arts

Maki K. Habib
2007 International Journal of Advanced Robotic Systems  
Robotized solutions with effective sensing capabilities properly sized with suitable modularized mechanized structure and well adapted to local conditions of minefields can greatly improve the safety of  ...  features and design capabilities of a mobile platform needed to accelerate the demining process and achieve safety with cost effective measures.  ...  COMET III has 2 crawler and 6 legs walking/running robot with two arms in the front. It is driven by hydraulic power. The robot weight 990 kg, its length 4m, width 2.5m, and height 0.8 m.  ... 
doi:10.5772/5699 fatcat:3mx4eobl75hm7nv4ejybpfy5va

Organismal engineering: Toward a robotic taxonomic key for devices using organic materials

Victoria A. Webster-Wood, Ozan Akkus, Umut A. Gurkan, Hillel J. Chiel, Roger D. Quinn
2017 Science Robotics  
Based on this analysis, we propose a Robotic Taxonomic Key to guide the field towards a unified lexicon for device description.  ...  Can we create robots with the behavioral flexibility and robustness of animals? Engineers often use bio-inspiration to mimic animals.  ...  (138) have developed a modular protocol for designing and fabricating legged musclepowered biohybrid robots, which is an important step toward the development of future design platforms.  ... 
doi:10.1126/scirobotics.aap9281 pmid:31360812 pmcid:PMC6663099 fatcat:imw5tugk7vctvaesko6o3ue2xe

Evolutionary design of soft-bodied animats with decentralized control

Michał Joachimczak, Taras Kowaliw, René Doursat, Borys Wróbel
2013 Artificial Life and Robotics  
We show how a biologically inspired model of multicellular development combined with a simulated evolutionary process can be used to design the morphologies and controllers of soft-bodied virtual animats  ...  Our system makes possible the evolution and development of animats that can run, swim, and actively navigate toward a target in a virtual environment.  ...  We report on previous experiments showing swimming animats in a fluid environment (more details in [12, 15, 13] ), and extend them with new, preliminary results on walking creatures.  ... 
doi:10.1007/s10015-013-0121-1 fatcat:ntp63x4xczc3bhkzphtaql6kzu
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