Running performance evaluation of inchworm drive and vibration drive for active scope camera

Ishikura, Michihisa; Wakana, Kazuhito; Takeuchi, Eijiro; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/aim.2011.6027005

Cited by 11 publications

(9 citation statements)

References 11 publications

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“…This locomotion was well described by a slip-stick model [136]: in this representation, the friction force was reduced due to the rotation of the mass, which pushed toward (or off ) the ground during half-rotation. Within this category, we can find beam-like robots that exploit resonance frequency to save energy [137], adaptable balloon robots that can vary their vibration frequency and their shape to adapt to different substrates [138], worm-like robots capable of vibration-based locomotion or two-anchor crawling [139,140] and a multi-gait robot that is also capable of jumping [141].…”

Section: Alternative Modes Of Locomotionmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

237

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Section: Alternative Modes Of Locomotionmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

237

147

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“…In such environments, ASC with the cilialy vibration drive either cannot run at all or drastically slows down, because the impelling force caused by small, highfrequency cilia movements gets absorbed. In comparison, the linear inchworm drive developed in [8] can run on such road surfaces because both the travel distance and the driving force from one stroke are large.…”

Section: A Outline and Drive Principlementioning

confidence: 98%

“…The rear cilia part is made of a Teflon tube covered by cilia in order to reduce friction with the camera cable during strokes. The angle of cilia were optimized by Ishikura et al at 40 degrees as the angle where the static friction difference between the forward and backward slip of ASC is the largest [8]. In this paper, therefore, cilia are uniformly leaned at 40 degrees to the axis direction of the Teflon tube.…”

Section: A Construction and Operation Principlementioning

confidence: 99%

“…1). A Linear inchworm drive with friction anisotropy (henceforth, the linear inchworm drive) has also been developed [8]. the linear inchworm drive allows ASC to run in environments where the ciliary vibration drive is not suitable due to its repetition of minute movements: markedly uneven road surfaces such as concrete blocks, and soft road surfaces such as carpets and sponges.…”

Section: Introductionmentioning

confidence: 99%

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Development of flexible pneumatic actuator for Active Scope Camera

Wakana¹,

Ishikura²,

Konyo³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There are many crooked narrow pathways inside collapsed houses and under rubble. ASC's search range could be vastly expanded if ASC can run in such environments.In this paper, we developed a flexible linear actuator, which has the bellows structure and the hollow structure, for ASC in order to solve these problems. The actuator was able to generate large force more than 6 N from 60 kPa of applied pressure even if it was curved at 200 mm bending radius. Moreover, we developed a flexible linear inchworm drive using this actuator. The flexible linear inchworm drive keeps the running characteristics on the various road surfaces of the conventional linear inchworm drive. The minimum width of 80 deg crooked pathway that the flexible linear inchworm drive could run through was 60 mm, which was one-thirds narrower than that of the conventional inchworm drive.

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“…Crawling robots actuated by vibration motors have been developed for applications such as collective behavior studies [1], [2], [3], [4], [5] or search and rescue [6]. These robots typically use directional fibrillar structures to achieve forward locomotion.…”

Section: Introductionmentioning

confidence: 99%

Fiberbot: A miniature crawling robot using a directional fibrillar pad

Han

Marvi

Sitti

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Vibration-driven locomotion has been widely used for crawling robot studies. Such robots usually have a vibration motor as the actuator and a fibrillar structure for providing directional friction on the substrate. However, there has not been any studies about the effect of fiber structure on robot crawling performance. In this paper, we develop Fiberbot, a custom made mini vibration robot, for studying the effect of fiber angle on robot velocity, steering, and climbing performance. It is known that the friction force with and against fibers depends on the fiber angle. Thus, we first present a new fabrication method for making millimeter scale fibers at a wide range of angles. We then show that using 30 • angle fibers that have the highest friction anisotropy (ratio of backward to forward friction force) among the other fibers we fabricated in this study, Fiberbot speed on glass increases to 13.8 ± 0.4 cm/s (compared to v = 0.6 ± 0.1 cm/s using vertical fibers). We also demonstrate that the locomotion direction of Fiberbot depends on the tilting direction of fibers and we can steer the robot by rotating the fiber pad. Fiberbot could also climb on glass at inclinations of up to 10 • when equipped with fibers of high friction anisotropy. We show that adding a rigid tail to the robot it can climb on glass at 25 • inclines. Moreover, the robot is able to crawl on rough surfaces such as wood (v = 10.0 ± 0.2 cm/s using 30 • fiber pad). Fiberbot, a low-cost vibration robot equipped with a custom-designed fiber pad with steering and climbing capabilities could be used for studies on collective behavior on a wide range of topographies as well as search and exploratory missions.

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Running performance evaluation of inchworm drive and vibration drive for active scope camera

Cited by 11 publications

References 11 publications

Fundamentals of soft robot locomotion

Fundamentals of soft robot locomotion

Development of flexible pneumatic actuator for Active Scope Camera

Fiberbot: A miniature crawling robot using a directional fibrillar pad

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