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Many science fiction novels have envisioned swarms of artificial microrobots capable of performing complex collective tasks. Unfortunately, today's technological constraints have prevented such powerful concept to be a reality when considering artificial microrobots. In this paper, we show that a swarm of computer-controlled flagellated Magnetotactic Bacteria (MTB) acting as natural microrobots of...
This paper is focussed on the modelling and control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two hydraulically-actuated degrees of freedom (DOF), the hip and knee joints. The actuation system is composed of proportional valves and asymmetric...
This paper deals with the kinematics and dynamics of an in-pipe underwater swimming robot. To provide a basis for the structure design and motion control of the in-pipe swimming robot, the dynamics and kinematics model of 6-DOF spatial motion in a specific three-dimensional pipeline are established. The Dynamics characteristic performances and the needed driving force when the robot swims along the...
This paper described our work in probing into fish robot with pectoral fin propulsion. The aim of this project is to develop a robot fish mimicking cownose ray that swims with flexible pectoral fins in oscillation motion. According to the analysis of cownose ray'motion, a novel robot fish prototype propelled by pectoral fins was designed, The effect of flapping parameters (frequency and amplitude)...
Since the propulsion mechanism in fluid using an elastic fin, such as the caudal fin or the pectoral fin of fish, is effective. However, the optimum elasticity of the fin is not constant and changes with the movement task and environment. It is very difficult to exchange fins of different stiffness while the robot is swimming. Thus, we attempt to develop a variable-stiffness fin with a variable-effective-length...
Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic...
In the robotic domain, it is common to deduce and use models that allow translating mathematically the element behavior. In some cases, these would serve as base to determine and develop a controller, for example. Beyond this, the simulation and experiments are reasons that leave to the development of models, becoming evaluation tools of the system behavior, especially when there are constraints of...
This paper describes about research on fluid analysis simulator for elastic oscillating fin of biomimetic underwater robots. Authors has been researching biomimetic underwater vehicle such as flapping wing type. In such system, new concept of fluid analysis simulator is required because of the unique fluid characteristics of elastic oscillating fin. First of all, this paper shows basic characteristics...
In this paper, we introduce a wall climbing robotic system for visual inspection of man-made structures. The adhesion mechanism of our system consists of an impeller and two-layer suction seals which provide sufficient adhesion forces for supporting the robot body on the non-smooth vertical wall and horizontal ceiling by generating pressure difference between the inside of the pressure chamber and...
We developed several underwater robots by using macro fiber composite(MFC), a new type of piezo-electric actuator with the merits of being soft and capable of large displacement, developed by NASA recently. MFC is made by processing PZT into a fiber-like state, hence yielding better flexibility, and structural actuation is possible by pasting it to thin structures since it is covered by polyimide...
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