Conceptual design of tetrad-screw propelled omnidirectional all-terrain mobile robot

Lugo, Jesus H.; Ramadoss, Vishal; Zoppi, Matteo; Molfino, Rezia

doi:10.1109/iccre.2017.7935033

Cited by 7 publications

(2 citation statements)

References 5 publications

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“…This occurs when the surface has no material for the screws to propel through, which can be thought of as screw-slippage [40]. Quad-screw designs have been proposed to take advantage of the partial screw-slippage case [41], [42], but these designs are unable to conform to the environment for consistent contact on nonplanar surfaces. Furthermore, the conditions for partial screwslippage are very specific, and instead, our proposed mobility strategies rely on either screw propulsion or screw-slippage resulting in consistent locomotion.…”

Section: A Related Workmentioning

confidence: 99%

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Richter¹,

Gavrilov²,

Lam³

et al. 2021

Preprint

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Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that require traversing a wide range of surface roughnesses and topologies. Previous locomotion strategies, involving wheels or ambulatory motion, such as snake platforms, have success on specific surfaces but fail in others which could be detrimental in exploration and navigation missions. In this paper, we present a novel approach that combines snake-like robots with an Archimedean screw locomotion mechanism to provide multiple, effective mobility strategies in a large range of environments, including those that are difficult to traverse for wheeled and ambulatory robots. This work develops a robotic system called ARCSnake to demonstrate this locomotion principle and tested it in a variety of different terrains and environments in order to prove its controllable, multi-domain, navigation capabilities. These tests show a wide breadth of scenarios that ARCSnake can handle, hence demonstrating its ability to traverse through extreme terrains.

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Section: A Related Workmentioning

confidence: 99%

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Richter¹,

Gavrilov²,

Lam³

et al. 2021

Preprint

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show abstract

“…A razor clam robot was designed, capable of digging through mud (Winter et al (2014)). Some researchers designed screw-based robots, having either two screws (Nagaoka et al, 2010b) or four (Lugo et al, 2017). Recently, some robots were designed to challenge the granular lunar terrain (Shrivastava et al, 2020) by combining wheels and walking gaits.…”

mentioning

confidence: 99%

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

2023

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Frictionally yielding media are a particular type of non-Newtonian fluids that significantly deform under stress and do not recover their original shape. For example, mud, snow, soil, leaf litters, or sand are such substrates because they flow when stress is applied but do not bounce back when released. Some robots have been designed to move on those substrates. However, compared to moving on solid ground, significantly fewer prototypes have been developed and only a few prototypes have been demonstrated outside of the research laboratory. This paper surveys the existing biology and robotics literature to analyze principles of physics facilitating motion on yielding substrates. We categorize animal and robot locomotion based on the mechanical principles and then further on the nature of the contact: discrete contact, continuous contact above the material, or through the medium. Then, we extract different hardware solutions and motion strategies enabling different robots and animals to progress. The result reveals which design principles are more widely used and which may represent research gaps for robotics. We also discuss that higher level of abstraction helps transferring the solutions to the robotics domain also when the robot is not explicitly meant to be bio-inspired. The contribution of this paper is a review of the biology and robotics literature for identifying locomotion principles that can be applied for future robot design in yielding environments, as well as a catalog of existing solutions either in nature or man-made, to enable locomotion on yielding grounds.

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A Multi-Terrain Robot Prototype With Archimedean Screw Actuators: Design, Realization, Modeling, and Control

Gkliva,

Remmas,

Godon

et al. 2024

IEEE Access

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Conceptual design of tetrad-screw propelled omnidirectional all-terrain mobile robot

Cited by 7 publications

References 5 publications

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

A Multi-Terrain Robot Prototype With Archimedean Screw Actuators: Design, Realization, Modeling, and Control

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