Propulsion Unit Control Method for Visualization of Grasping State of Earthworm-type Lunar Excavation Robot

Tokoi, Ryosuke; Toyama, Wataru; Watanabe, Tomoki; Tsumura, Kazuki; Okui, Manabu; Sawada, Hirotaka; Kubota, Takashi; Nakamura, Taro

doi:10.1109/aim46487.2021.9517536

Cited by 5 publications

(2 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For surface crawling, pneumatic actuators facilitate telescopic movement of the robot segment, whereas the electricdriven SMA can be programmed to control the telescopic motion of various SMAs on the same segment to achieve straight-line crawling or steering crawling (Zhang et al, 2021c). Currently, the most prominent application scenario for hybrid-driven robots is soil drilling (Dewapura et al, 2020) (Omori et al, 2010;Omori et al, 2013;Nakatake et al, 2016;Isaka et al, 2019;Tokoi et al, 2021;Vartholomeos et al, 2021), and the basic structure is basically similar to that depicted in Figure 16A. The electrically controlled drill can dig forward, whereas the pneumatic actuator can compact the soil and form a certain diameter pipe channel, in addition to transporting the entire robot forward.…”

Section: Hybrid-drivenmentioning

confidence: 99%

“…Currently, the most prominent application scenario for hybrid-driven robots is soil drilling ( Dewapura et al, 2020 ) ( Omori et al, 2010 ; Omori et al, 2013 ; Nakatake et al, 2016 ; Isaka et al, 2019 ; Tokoi et al, 2021 ; Vartholomeos et al, 2021 ), and the basic structure is basically similar to that depicted in Figure 16A . The electrically controlled drill can dig forward, whereas the pneumatic actuator can compact the soil and form a certain diameter pipe channel, in addition to transporting the entire robot forward.…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

See 1 more Smart Citation

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot’s segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

show abstract