A bio-inspired climbing robot: design, simulation, and experiments

Chattopadhyay, Priyabrata; Majumder, Anubhab; Dikshit, H.; Ghoshal, Sanjoy K.; Maity, Atanu

doi:10.1088/1757-899x/377/1/012105

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…In order to further simulate the peristaltic movement of the inchworm, researchers from Virginia Tech University improved and designed the millipede robot, adding a large number of gastropods to its trunk structure, which made the robot move through the swing of the abdominal foot [11,12]. Researchers from the Central Institute of Mechanical Engineering in India have created a large number of joints in the torso, allowing the robot to move through the swinging friction of the joints [13]. In addition, the connecting rod robot designed by Hanyang University in South Korea and the double anchor crawling robot designed by the University of Texas in the United States made the trunk composed of two motion joints, which performed 1-DOF reciprocating motion over short distance and had the lowest peristaltic motion performance [14,15].…”

Section: Introductionmentioning

confidence: 99%

Research on Motion Control of Bionic Sucker Inchworm Robot Based on MPC

Xue,

Du,

et al. 2023

IEEE Access

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Inchworm robots are typical insect bionic robots that are able to move in narrow space such as pipelines, which expand the range of robot application. In this paper, the motion control method of the bionic sucker inchworm robot (BSIR) based on MPC is proposed, which enables the inchworm robot to achieve "Ω" motion gait and steering gait on vertical and horizontal planes of different materials. Firstly, the negative pressure suction cup imitating octopus tentacles (NPSC-IOT) is designed and the sucker control model is proposed. Under negative pressure control, the adsorption pressure of the sucker is adjusted to satisfy the needs of the trunk structure movement. Secondly, the bionic sucker controller based on MPC is designed, and the closed-loop control is realized by using the data feedback from the air pressure sensor. Thirdly, BSIR with installed NPSC-IOT as the robot's tentacles is developed. Finally, the experiment verifies the feasibility of the bionic sucker controller based on MPC to control BSIR to achieve ' Ω ' motion gait and steering gait on vertical and horizontal planes of different materials. The experimental results show that BSIR is able to achieve "Ω" gait and turning gait on vertical and horizontal surfaces of glass, tiles, white gray walls, and metal.

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Section: Introductionmentioning

confidence: 99%

Research on Motion Control of Bionic Sucker Inchworm Robot Based on MPC

Xue,

Du,

et al. 2023

IEEE Access

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“…An inchworm is one such interesting creature, using its legs and flexible body to perform adaptive crawling on different complex terrains. Several previous works report the biological aspects of different caterpillars including an inchworm [2]- [6]. Building on the existing understanding of an inchworm's biology, various robots have been developed [7]- [15].…”

Section: Introductionmentioning

confidence: 99%

iCrawl: An Inchworm-Inspired Crawling Robot

et al. 2020

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for their participation in the valuable discussions at various stages of the work. This work has been supported by a startup grant on Bio-inspired Robotics from Vidyasirimedhi Institute of Science & Technology (VISTEC) (P.M., project PI). We also thank FIGO company for participating in technical discussions, and PTT Exploration and Production Public Co. Ltd., for taking part in general discussions and providing the industrial pipes for robot testing.

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