TY - GEN
T1 - Actuator design and whole-body dynamics of micro centipede robots
AU - Sheynkman, David
AU - Lawhorn, Raheem
AU - Wang, Cong
AU - Lu, Lu
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - Micro robots have been recognized as a promising solution for exploring complex and dangerous environments during rescue and reconnaissance missions. The idea of micro centipede robots is drawing increasing attention because of their great potentials to get through rubble and reaching buried areas. This paper explores the possibility of using micro electromagnetic actuators on micro centipede robots, which could give better mobility than using piezoelectric actuators. This paper also discusses the whole-body dynamics of centipede robots. A series of simulation studies are conducted to draw conclusions on how the propulsion characteristics of individual legs and the ground friction affect the dynamics and stability of the whole centipede robot.
AB - Micro robots have been recognized as a promising solution for exploring complex and dangerous environments during rescue and reconnaissance missions. The idea of micro centipede robots is drawing increasing attention because of their great potentials to get through rubble and reaching buried areas. This paper explores the possibility of using micro electromagnetic actuators on micro centipede robots, which could give better mobility than using piezoelectric actuators. This paper also discusses the whole-body dynamics of centipede robots. A series of simulation studies are conducted to draw conclusions on how the propulsion characteristics of individual legs and the ground friction affect the dynamics and stability of the whole centipede robot.
UR - http://www.scopus.com/inward/record.url?scp=85015871754&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2016-9677
DO - 10.1115/DSCC2016-9677
M3 - Conference contribution
AN - SCOPUS:85015871754
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
PB - American Society of Mechanical Engineers
T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Y2 - 12 October 2016 through 14 October 2016
ER -