Construction and Excavation by Collaborative Double-Tailed SAW Robots

Huang, Luyang Robby; Zhu, Alexander Y.; Wang, Kathleen; Goldman, Daniel I.; Ruina, Andy; Petersen, Kirstin

doi:10.1109/lra.2022.3146562

Cited by 6 publications

(3 citation statements)

References 34 publications

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“…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 ].…”

Section: Introductionmentioning

confidence: 99%

“…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.…”

Section: Introductionmentioning

confidence: 99%

“…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].…”

Section: Introductionmentioning

confidence: 99%

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

Shachaf,

Katz,

Zarrouk

2023

Biomimetics

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In a recent study, we developed a minimally actuated robot that utilizes wave-like locomotion and analyzed its kinematics. In this paper, we present an analysis of the robot’s locomotion between two highly flexible surfaces. Initially, we created a simulation model of the robot between two surfaces and determined its speed and the conditions of locomotion based on the flexibility of the surface, the geometrical parameters, and the coefficient of friction for horizontal locomotion and climbing at different angles. Our findings indicate that wave locomotion is capable of consistently advancing along the surface, even when the surface is highly flexible. Next, we developed an experimental setup and conducted multiple experiments to validate the accuracy of our simulation. The results indicate an average relative difference of approximately 11% between the speed and advance ratio of the wave crawling between the two surfaces of our simulation model and the experimental results were performed using an actual robot. Lastly, we compared the wave locomotion results to those of the worm locomotion and discovered that wave locomotion outperforms worm locomotion, especially at a higher surface flexibility.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…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].…”

Section: Introductionmentioning

confidence: 99%

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