A bio-mimetic amphibious soft cord robot

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

Some living beings both on ground and in water can move by forming traveling waves along their bodies, therefore the mechanisms using the traveling waves have the amphibious possibility. Several robots have been developed using the mechanisms, but there are no amphibious robots. In this study, our goal is development of a bio-mimetic soft cord robot which can move on ground and in water. First, we took particular note of a millipede and an eel, because they are similar to point of using the traveling waves for moving, but their living environments are different; the millipede lives on the ground and the eel lives in water, and their moving principles were cleared theoretically and confirmed by computer simulation. As the result, the relations between their moving and the progressing directions of traveling waves were made clear. Second, a soft cord robot, 915 mm in length, 11 mm in width and 5 mm in height, which was based on the principles of the millipede and the eel was developed. Finally, the experiments of the robot were carried out, and they showed that the robot could move both on the ground and in water successfully. Moreover the robot could negotiate in the curve tube without special control algorithm because of its high compliance.

Original languageEnglish
Pages (from-to)471-477
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume72
Issue number2
Publication statusPublished - Feb 2006

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Robots
Water
Computer simulation
Experiments

Keywords

  • Actuator
  • Bio-Motion
  • Mechatoronics and Robotics
  • Moving Robot
  • Oil and Air Hydraulics

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

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title = "A bio-mimetic amphibious soft cord robot",
abstract = "Some living beings both on ground and in water can move by forming traveling waves along their bodies, therefore the mechanisms using the traveling waves have the amphibious possibility. Several robots have been developed using the mechanisms, but there are no amphibious robots. In this study, our goal is development of a bio-mimetic soft cord robot which can move on ground and in water. First, we took particular note of a millipede and an eel, because they are similar to point of using the traveling waves for moving, but their living environments are different; the millipede lives on the ground and the eel lives in water, and their moving principles were cleared theoretically and confirmed by computer simulation. As the result, the relations between their moving and the progressing directions of traveling waves were made clear. Second, a soft cord robot, 915 mm in length, 11 mm in width and 5 mm in height, which was based on the principles of the millipede and the eel was developed. Finally, the experiments of the robot were carried out, and they showed that the robot could move both on the ground and in water successfully. Moreover the robot could negotiate in the curve tube without special control algorithm because of its high compliance.",
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AU - Wakimoto, Shuichi

AU - Suzumori, Koichi

AU - Kanda, Takefumi

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AB - Some living beings both on ground and in water can move by forming traveling waves along their bodies, therefore the mechanisms using the traveling waves have the amphibious possibility. Several robots have been developed using the mechanisms, but there are no amphibious robots. In this study, our goal is development of a bio-mimetic soft cord robot which can move on ground and in water. First, we took particular note of a millipede and an eel, because they are similar to point of using the traveling waves for moving, but their living environments are different; the millipede lives on the ground and the eel lives in water, and their moving principles were cleared theoretically and confirmed by computer simulation. As the result, the relations between their moving and the progressing directions of traveling waves were made clear. Second, a soft cord robot, 915 mm in length, 11 mm in width and 5 mm in height, which was based on the principles of the millipede and the eel was developed. Finally, the experiments of the robot were carried out, and they showed that the robot could move both on the ground and in water successfully. Moreover the robot could negotiate in the curve tube without special control algorithm because of its high compliance.

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KW - Oil and Air Hydraulics

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