A Study on Micro Mobile Robot. 1st Report. Design, Experiment and Mathematical Model of Micro Mobile Robot.

敏男, 福田; 直樹, 光本; 史人, 新井; 英雄, 松浦

doi:10.1299/kikaic.59.1787

Cited by 9 publications

(3 citation statements)

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“…This measurement was carried out because the vibration amplitude of the leg may be strongly related to the running velocity. The manner of measuring the vibration of the leg is the same as that in Experiment (1). The results of this experiment are shown in Fig.…”

Section: Experiments (2)mentioning

confidence: 99%

“…A considerable number of studies have recently investigated micro-robots, which can enter narrow spaces that are not accessible by humans or larger robots to maintain, repair, and inspect equipment, instruments, and machines [1]- [5]. In addition, yearly contests have been held in order to accelerate the development of micro-robot technologies [6], [7].…”

Section: Introductionmentioning

confidence: 99%

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Moving Mechanism and Control Method for a Micro-Robot : Characteristics of Running Straight

Isogai

Fukuda

2010

ICAM

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In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of micro-robot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. The present study considers a moving mechanism of and a control method for an electro-magnet-type micro-robot that can not only run in a straight line but can also turn using only one electromagnet by adjusting the directions of permanent magnets installed in the robot and the input voltage applied to the electromagnet. In the present paper, the straight running of the micro-robot is mathematically modeled, and the characteristics of the motion of the micro-robot running straight on a horizontal plane and on an inclined plane are investigated through a number of simulations experiments.

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Section: Experiments (2)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Moving Mechanism and Control Method for a Micro-Robot : Characteristics of Running Straight

Isogai

Fukuda

2010

ICAM

Self Cite

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“…In addition, microrobots have been developed. A micro-mobile robot [7] is driven by differences of frictional force between forward and backward motion. A mobile micro-robot [8] uses centrifugal force by a vibration motor that is located on the robot with angled cilia.…”

Section: Introductionmentioning

confidence: 99%

Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera

Isaki

Niitsuma

Konyo

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Proposed new actuation mechanism realizes active or semi-active mobility for flexible long cables such as fiberscopes and scope cameras. A ciliary vibration mechanism was developed using flexible ciliary tapes that can be attached easily to existing cables. Driving characteristics of the active cables were confirmed through experiments and numerical analyses. Finally, the actuation mechanism was applied for an advanced scope camera that can reduce friction with obstacles and avoid stuck or tangled cables.

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Actuation of Long Flexible Cables Using Ciliary Vibration Drive

Konyo

Tadokoro

2010

Next-Generation Actuators Leading Breakthroughs

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A Study on Micro Mobile Robot. 1st Report. Design, Experiment and Mathematical Model of Micro Mobile Robot.

Cited by 9 publications

References 1 publication

Moving Mechanism and Control Method for a Micro-Robot : Characteristics of Running Straight

Moving Mechanism and Control Method for a Micro-Robot : Characteristics of Running Straight

Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera

Actuation of Long Flexible Cables Using Ciliary Vibration Drive

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