Study on slime robot (proposal of slime robot and design of slim slime robot)

Author

Ohno, Hidetaka ; Hirose, Shigeo

Author_Institution

Dept. of Mech.-Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

2218

Abstract

The authors call the group of flexible deformation robots with multiple degrees of freedom “slime robots” (SRs). First the configuration of a robot with multiple pneumatic actuators is described. This configuration makes the most of the characteristics of a slime robot. Next the mechanism of an “SR unit”, the minimum drive unit of a pneumatically driven slime robot, is examined experimentally. Next an “SR module” composed of SR units is described. An SR module is the three degrees of freedom pneumatic module with pneumatic actuators, valves, original displacement sensors and a microprocessor in its body. Lastly, as one of application of a slime robot, a “slim slime robot (SSR)” is described. The SSR is a mobile robot with long and thin body composed of serially connected SR modules

Keywords

actuators; mobile robots; pneumatic control equipment; flexible deformation robots; minimum drive unit; multiple degrees of freedom robots; pneumatic actuators; slime robot; Design engineering; Microprocessors; Mobile robots; Pneumatic actuators; Proposals; Research and development; Robot sensing systems; Sensor phenomena and characterization; Strontium; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895298

Filename

895298