A climbing robot based on Hot Melt Adhesion

Osswald, Marc; Iida, Fumiya

doi:10.1109/iros.2011.6094741

Cited by 14 publications

(1 citation statement)

References 18 publications

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“…The mechanism exploits the characteristics of the media (water, in this case) and changes the physical phase from liquid to solid, depending on the temperature. Osswald and Iida (2011) employed hot-melt adhesive for the climbing wall mechanism. A mercury robot is attempted and demonstrated by Yokoi et al (2003) as an extreme shape of robot.…”

Section: Introductionmentioning

confidence: 99%

Two-dimensional magnetic micro-module reconfigurations based on inter-modular interactions

Miyashita

Diller

Sitti

2013

The International Journal of Robotics Research

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We present a scheme of two-dimensional module reconfiguration based on interactions between microscale magnetic modules with potential applications in micro-robotics, particularly in automatic micro-fabrication, non-invasive diagnoses, micro-surgery, and drug delivery at unreachable sites. The approach taken is a mixture of a top-down engineering approach and a bottom-up self-assembly approach, where reconfiguration commands are delivered from outside the workspace in the form of a magnetic field, which directs configuration changes in the set of modules by changing the strengths of individual magnetic moments. The magnetic modules in the study, 750 µm in size, are constrained to a liquid surface, providing a simplified two degrees of freedom translational motion environment, where the laterally interacting inter-module magnetic force determines the assembly configuration. In this way, the relative distance of the magnets simply reflects the strength of the interactions, and thus easily enables the design of the system's reconfiguration scenario. Reconfiguration occurs when the magnetic attractive forces are changed. To direct the assembly morphology in a controlled manner, the modules are addressed magnetically by incorporating a different magnetic material into each module type, each with different magnetic hysteresis characteristics. For addressing different modules' magnetizations, we incorporate three different magnetic materials that feature different magnetic coercivities. This allows for the independent control of the magnetization of each material using applied external fields of varying strength, leading to arbitrary configuration change in a three-module set and limited control over a four-module set. General cases with more than five modules are further discussed.

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Section: Introductionmentioning

confidence: 99%