2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) 2019
DOI: 10.1109/ritapp.2019.8932732
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Concept Design for Mole-Like Excavate Robot and Its Localization Method

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Cited by 5 publications
(4 citation statements)
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“…Recent years have seen growing interest in building robots to operate in granular media, with many potential modes of burrowing explored. As summarized by ( Wei et al, 2021 ), various burrowing robots draw inspiration from biological organisms, including moles ( Richter et al, 2002 ; Kubota et al, 2007 ; Richardson et al, 2011 ; Lee et al, 2019 ; Olaf et al, 2019 ), worms ( Omori et al, 2013 ; Tang et al, 2015 ; Fujiwara et al, 2018 ; Isaka et al, 2019 ; Liu et al, 2019 ; Ortiz et al, 2019 ; Das et al, 2020 ; Alhart, 2021 ), plant roots ( Sadeghi et al, 2014 , 2017 ), sandfish ( Maladen et al, 2011 ) and bivalves ( Germann and Carbajal, 2013 ; Winter et al, 2014 ; Tao et al, 2020 ), among others. Several works aim to draw inspiration from mole crabs to create robots with legged locomotive capabilities; Russell (2011) created a robot with external flapping fins which, due to feathering on the return stroke, can locomote in horizontal planes of motion.…”
Section: Introductionmentioning
confidence: 99%
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“…Recent years have seen growing interest in building robots to operate in granular media, with many potential modes of burrowing explored. As summarized by ( Wei et al, 2021 ), various burrowing robots draw inspiration from biological organisms, including moles ( Richter et al, 2002 ; Kubota et al, 2007 ; Richardson et al, 2011 ; Lee et al, 2019 ; Olaf et al, 2019 ), worms ( Omori et al, 2013 ; Tang et al, 2015 ; Fujiwara et al, 2018 ; Isaka et al, 2019 ; Liu et al, 2019 ; Ortiz et al, 2019 ; Das et al, 2020 ; Alhart, 2021 ), plant roots ( Sadeghi et al, 2014 , 2017 ), sandfish ( Maladen et al, 2011 ) and bivalves ( Germann and Carbajal, 2013 ; Winter et al, 2014 ; Tao et al, 2020 ), among others. Several works aim to draw inspiration from mole crabs to create robots with legged locomotive capabilities; Russell (2011) created a robot with external flapping fins which, due to feathering on the return stroke, can locomote in horizontal planes of motion.…”
Section: Introductionmentioning
confidence: 99%
“…For robots attempting to burrow, this symmetry constraint presents a unique design challenge, resulting in many systems which either locomote vertically-outward ( Tao et al, 2020 ), horizontally ( Maladen et al, 2011 ; Lee et al, 2019 ; Ortiz et al, 2019 ; Barenboim and Degani, 2020 ; Huang and Tao, 2022 ), or downward with external supports or downward loads ( Richter et al, 2002 ; Sadeghi et al, 2014 ; Winter et al, 2014 ; Naclerio et al, 2018 ). Unsupported burrowing or “self-burrowing” is more difficult and less frequently achieved ( Tao et al, 2020 ; Huang and Tao, 2022 ).…”
Section: Introductionmentioning
confidence: 99%
“…The matching methods require a choice of parameters for interpolation of the spatial signal and for the number of points used in each subset. The matching process could also be achieved using methods other than correlation, such as a Euclidean distance measure between two sequences as used in other work with magnetic fields [ 33 , 40 ].…”
Section: Discussionmentioning
confidence: 99%
“…If more was known about the spatially varying signal, then a more informed choice of function might be made. A Gaussian process, as used in another work on a excavating robot [ 40 ], or a weighted radial basis function decomposition, as used in a previous work in pipes [ 26 ], may be more flexible functions.…”
Section: Discussionmentioning
confidence: 99%