2P1-A19 Development of a traveling wave robot based on snail locomotion

Mitamura, Yuki; Imai, Shouhei; Nakamura, Taro

doi:10.1299/jsmermd.2006._2p1-a19_1

Cited by 1 publication

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A unit for mobile robot was developed to generate the traveling wave based on the snail. A diagram of the unit (Mitamura et al , 2006) used in the mobile robot is shown in Figure 3. It is composed of two substrate parts (side: 20 mm, depth: 105 mm): the friction part (side: 25 mm, depth: 105 mm) and a servomotor.…”

Section: The Single‐directional Mobile Robot Using Traveling Wavementioning

confidence: 99%

Development of an omni‐directional mobile robot using traveling waves based on snail locomotion

Nakamura

Satoh

2008

Industrial Robot: An International Journal

Self Cite

View full text Add to dashboard Cite

PurposeThe snail moves by propagating traveling waves from tail to head. If it is possible to propagate a traveling wave in many directions, an omni‐directional mobile robot could be realized. The purpose of this paper is to develop an omni‐directional mobile robot using the locomotion mechanism of the snail and to study the basic properties of the robot.Design/methodology/approachA unit for mobile robot was developed to generate the traveling wave based on the snail. The omni‐directional mobile robot is composed of eight units arranged in a circular shape and each abutting unit is connected by a spring. The robot generates a traveling wave by elongation and contraction of the units and realizes an omni‐directional locomotion.FindingsIt was confirmed that the robot moves using the traveling wave locomotion. Furthermore, the locomotion experiment confirmed that the robot moved in the expected direction with reasonable accuracy.Originality/valueThis paper proposes a new omni‐directional mobile mechanism using traveling wave based on a snail locomotion. Since the locomotion mechanism of the snail involves moving a larger area than is the case with other creatures, it is able to move not only on irregular ground such as swamps, but also on walls and ceilings. Hence, it is thought that this robot could be applied to the inspection of walls.

show abstract

Section: The Single‐directional Mobile Robot Using Traveling Wavementioning

confidence: 99%