Toward a multi-disciplinary model for bio-robotic systems

Abstract

The design of robotic systems involves contributions from several areas of science and engineering. Electrical, mechanical and software components must be integrated to form the final system. Increasingly, simulation tools are being introduced into the design flow as a means to verify the performance of particular subsystems. In order to accurately simulate the complete robotic system we propose a framework that allows designers to describe the robotic system as an interconnection of mechanical, electrical, and software components, with well defined mechanisms for communicating with each other. Through this, we form a multi-disciplinary model that captures both the dynamics of the individual subsystems, and the dynamics resulting from the interconnection of the above subsystems. As a case-study, we will apply the framework to a biologically inspired robotic snake.

Smooth creeping actuator by tip growth movement aiming for search and rescue operation

“…In this model, equation (5) can be derived directly from mechanical relationships on a moving pulley. To be exact, energy is consumed to deform the cross-section of the tube, therefore b F and t F may be smaller than the values in equations (3) and (5). However, in this work we use equations (3) and (5) as approximations valid when flat tubes that are soft enough are used.…”

“…With regard to the method of ii), various types of robots were also proposed, which advances with making the moving part leave Hideyuki Tsukagoshi is with Tokyo Institute of Technology. Corresponding e-mail address is as follows: htsuka@cm.ctrl.titech.ac.jp from the ground, referring to the behavior of an earthworm and an inchworm [4][5][6][7][8]. The problem in this method is how to enable the moving part to leave from the rugged ground without causing the sliding friction.…”