Design and fabrication of a worm robot prototype

Noorani, Mohammad-Reza Sayyed; Gholami, Ahmad; Aghli, Sina

doi:10.1109/icrom.2015.7367763

Cited by 6 publications

(4 citation statements)

References 12 publications

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“…The subscripts R and L stand for Right and Left (for rear tires), respectively, while the subscripts r and f stand for rear and front, respectively. Thus, the lateral (w) components of the force (F) from the rear (r) left (L) tire are denoted as (𝐹 𝑢𝑟 )L. The longitudinal components of the forces generated by the two rear tires, on the other hand, are the same and are represented by (40). where 𝑎 and 𝑏 are the two distances from two of the wheels (one in the front centre and one from the back out of two) toward the perpendicular from the centroid of the vehicle.…”

Section: Three Wheelmentioning

confidence: 99%

“…Here, 𝑥 𝑓0 𝑦 𝑓0 and 𝜃 𝑓0 are initial value. The other shape of this robot type, known as the worm robot prototype, is presented in [39][40][41] as shown in figure 11. Since the use of equations of motion is aimed at solving inverse dynamic problems rather than controlling, and interpretation is made based on the absolute angle of the connecting rod (measured in a positive direction with respect to the horizontal axis) and is calculated as follows:…”

Section: Figure 9 the Legged Robot Schemementioning

confidence: 99%

See 1 more Smart Citation

Review On: The Service Robot Mathematical Model

Moshayedi

Roy

Sambo

et al. 2022

EAI Endorsed Trans AI Robotics

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After nearly 30 years of development, service robot technology has made important achievements in the interdisciplinary aspects of machinery, information, materials, control, medicine, etc. These robot types have different shapes, and mainly in some are shaped based on application. Till today various structure are proposed which for the better analysis’s need to have the mathematical equation that can model the structure and later the behaviour of them after implementing the controlling strategy. The current paper discusses the various shape and applications of all available service robots and briefly summarizes the research progress of key points such as robot dynamics, robot types, and different dynamic models of the differential types of service robots. The current review study can be helpful as an initial node for all researchers in this topic and help them to have the better simulation and analyses. Besides the current research shows some application that can specify the service robot model over the application.

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Section: Three Wheelmentioning

confidence: 99%

Section: Figure 9 the Legged Robot Schemementioning

confidence: 99%

Review On: The Service Robot Mathematical Model

Moshayedi

Roy

Sambo

et al. 2022

EAI Endorsed Trans AI Robotics

View full text Add to dashboard Cite

show abstract

“…Using these observations from animals, several attempts to develop crawling robots were conducted in the past [3,4,[21][22][23][24][25][26][27][28][29]. Active interaction with the ground can be replicated by using active adhesion [30] or friction manipulation [21,23,27,31], while other devices leverage passive frictional contacts [22,25,28,29].…”

Section: Introductionmentioning

confidence: 99%

Minimal Bio-Inspired Crawling Robots with Motion Control Capabilities

Wu,

Liu,

Padovani

2023

Actuators

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Nonskeletal animals such as worms achieve locomotion via crawling. We consider them as an inspiration to design robots that help underline the mechanisms of crawling. In this paper, we aim to identify an approach with the simplest structure and actuators. Our robots consist of cut-and-fold bodies equipped with pneumatically-driven soft actuators. We have developed fabrication techniques for coin-sized robots. Experiments showed that our robots can move up to 4.5 mm/s with straight motion (i.e., 0.1 body lengths per second) and perform cornering and U-turns. We have also studied the friction characteristics of our robots with the ground to develop a multistate model with stick–slip contact conversions. Our theoretical analyses depict comparable results to experiments demonstrating that simple and straightforward techniques can illustrate the crawling mechanism. Considering the minimal robots’ structure, this result is a critical step towards developing miniature crawling robots successfully.

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“…These motors have been adopted by numerous researchers and hobbyists to realize lightweight but high performance robots using a simple interface in a cost-effective manner. For example, the motors were successfully utilized by aerial manipulators, hand exoskeletons, humanoid necks, worm robots, and cheetah robots in [ 1 , 2 , 3 , 4 , 5 ], respectively.…”

Section: Introductionmentioning

confidence: 99%

Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints

Hwang

Minami

Ishikawa

2018

Sensors

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We propose a novel virtual torque sensor for commercial low-cost radio-controlled (RC) servo motors. The virtual torque sensor has played an important role for conventional robots. It has been used for torque-required control applications such as human–robot interaction and under-actuated robots. However, most virtual torque sensors are based on the inversion of actuators or robot dynamics with the assumption that entire dynamics are known. This is not applicable to the RC servo motors that have unknown control structures. As RC servo motors enable researchers and hobbyists to create lightweight but high performance robots in an easy and cost-effective manner, the development of a virtual torque sensor for these motors is necessary. In this study, we propose a design method of a virtual torque sensor for RC servo motors. First, the virtual sensor is derived mathematically based on internal dynamic models with parametric constraints and compared to the conventional model. Second, a dedicated system identification method is developed for the proposed virtual sensor to implement the sensor in actual experiments. Finally, we compare experimental results with the measurements obtained by an actual sensor.

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Design and fabrication of a worm robot prototype

Cited by 6 publications

References 12 publications

Review On: The Service Robot Mathematical Model

Review On: The Service Robot Mathematical Model

Minimal Bio-Inspired Crawling Robots with Motion Control Capabilities

Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints

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