Study on slime robot: development of the mobile robot prototype model using bridle bellows

Author

Aoki, Takeshi ; Ochiai, Akiyoshi ; Hirose, Shigeo

Author_Institution

Dept. of Mechanical & Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

3

fYear

2004

fDate

26 April-1 May 2004

Firstpage

2808

Abstract

Slim slime robot (SSR), looks like an active cord mechanism (the snake-like robot) and composes units that can stretch, shrink and bend actively, is for several tasks in narrow spaces such as to move under collapsed houses or for inspection of pipelines in plants. In this paper, we propose the new concept, which is named "bridle drive". We developed the prototype model of the units of the SSR-2.3. Each unit has a bridle bellows composed of a large caliber bellows and wire lock system. The use of bridle bellows allows to produce a high output using air pressure, its shape can be changed by controlling the length of the wires.

Keywords

bellows; mobile robots; SSR-2.3; active cord mechanism; bridle bellows; bridle drive; large caliber bellows; mobile robot prototype model; slim slime robot; snake-like robot; wire lock system; Bellows; Computer hacking; Inspection; Mobile robots; Orbital robotics; Pressure control; Prototypes; Shape control; Space technology; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307486

Filename

1307486