Title :
DTAR—A Dynamic, Tube-Ascending Robot
Author :
Degani, Amir ; Choset, Howie ; Mason, Matthew T.
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
4/1/2011 12:00:00 AM
Abstract :
This paper investigates a novel minimalistic mechanism that ascends tubes. The mechanism is comprised of only a rigid body, two O-rings, and a motor rotating an eccentric mass. We describe the underlying locomotion principle of rocking and jamming, without the use of special bristles or spines, and demonstrate the robustness of this mechanism.
Keywords :
mobile robots; robot dynamics; dynamic tube-ascending robot; robot dynamics; robot locomotion; robot mechanism; Approximation methods; Electron tubes; Force; Friction; Jamming; Robots; Structural rings; Miniature robot; tube-climbing;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2011.2108628
