A New Self-Reconfiguration Wave-like Crawling Robot: Design, Analysis, and Experiments

Abstract

Traditional mobile robots with fixed structures lack the ability to cope with complex terrains and tasks. Reconfigurable modular mobile robots have received considerable attention as they can automatically reassemble according to the changing environment or task. In this paper, a new self-reconfiguration wave-like crawling (SWC) robot is presented to improve the mobile robots’ locomotion capacity. First, the mechanical design of the wave-like crawling mechanism is detailed. Then, the series and parallel connections are introduced to achieve self-reconfiguration. In addition, the kinematic model of the SWC robot is established. Finally, experiments were performed to verify the robotic system with wireless data transmission.

Design and Control of a 7-degree-of-freedom Symmetric Manipulator Module for In-Orbit Operations

“…The self-reconfigurable wave-like crawling (SWC) robot developed in [4], for example, aims to improve locomotion of current mobile robots by using a single motor for this purpose. This motor rotates a helix that, in turn, mobilises a chain of links located around it in an oscillatory manner.…”

Wave-like Robotic Locomotion between Highly Flexible Surfaces and Comparison to Worm Robot Locomotion

“…A minimalistic approach is commonly utilized to achieve efficient design, which involves a small number of motors and actuators. Three types of locomotion have been explored in these studies: screw-like locomotion [ 5 , 6 ], worm-like locomotion [ 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 ] and undulating locomotion, which mimics a continuously advancing wave [ 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 ].…”

“…Further studies have investigated the advantages of this unique propulsion mechanism in various other fields, including search and rescue, construction, and excavation. These studies have involved connecting multiple SAW robots [ 41 , 42 , 43 ] or utilizing the robot’s swimming abilities for applications as an amphibious robot [ 44 ] such as operating in proximity to wildlife for the monitoring, excavation and filming of natural reserves.…”

“…A minimalistic approach is commonly utilized to achieve efficient design, which involves a small number of motors and actuators. Three types of locomotion have been explored in these studies: screw-like locomotion [5,6], worm-like locomotion and undulating locomotion, which mimics a continuously advancing wave [29][30][31][32][33][34][35][36][37][38][39][40][41][42][43].…”