In this paper a novel concept of embedded robotic actuator is presented which has been named the Very Versatile Energy Efficient (V2E2) actuator. This actuator stores energy during any force profile which generates negative work on the load and it does therefore have unprecedented potentials for robotics applications.

This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.

This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper will show the development and evaluation of a prototype model. Rapid prototyping techniques have been used in this proof-of-principle.

Awe is a powerful, visceral sensation described as a sudden chill or shudder accompanied by goosebumps. People feel awe in the face of extraordinary experiences: the sublimity of nature, the beauty of art and music, the adrenaline rush of fear. Awe is healthy, both physically and mentally. It can be shared by people who are witnessing the same phenomenon, but traditionally it cannot be communicated remotely across time or distance: to feel awe involves real time experience, and explaining the experience that gave rise to it does not always induce the feeling of awe itself. We want to make this sensation something that can be transmitted, and therefore present AWElectric, a wearable interface that can detect awe, enhance it, and create it in another person. Our shared goosebump design embeds inflatable biometric displays in 3D print fabric. The AudioTactile fabric transmits an awe-inducing sound frequency to the partner that physically manifests the tingles, chills, and goosebumps that awe provokes.

T his article describes the design and construction of Dribbel, a passivity-based walking robot. The robot has been designed and built at the Control Engineering group of the University of Twente. The current version of the robot can be seen in Figure 1. Passivity-based walking, or dynamic walking, is an approach to walking research focused primarily on the dynamics of the mechanical system used for walking; control and actuation come second. This article focuses on the practical side: the design approach, construction, electronics, and software design. After a short introduction of dynamic walking, the design process, starting with simulation, will be discussed. Dynamic WalkingTad McGeer started this field of research in the early 1990s with the design of totally passive (unactuated) mechanical walking constructions. His walkers were able to walk down a shallow slope without any form of active control or actuation. Based on the same dynamics principles, actuated (but still underactuated) walkers are being built today. These walkers can walk stably on a flat floor. Dribbel, the walker that is decribed here, has five joints, one of which is actuated. SimulationA number of simulation models preceded the working robot.