Experimental comparison of robotics locomotion with passive tether and active tether

Yang, Xiaoting; Voyles, Richard M.; Li, Kang; Povilus, Sam

doi:10.1109/ssrr.2009.5424151

Cited by 12 publications

(7 citation statements)

References 9 publications

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“…We disregarded the Z direction as the tube existed in a planar space. For more details about experimental setup please see [13]. The experiment included measurement of 20 distinct shapes.…”

Section: B Experimental Setupmentioning

confidence: 99%

An Actuation Model for Soft Robot Based on Amorphous Computational Material

Wang¹,

Yu²,

Yang³

et al. 2014

Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science

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Amorphous Computational Material(ACM) is a concept of an active material that can sense its environment and, due to its cognitive capabilities, react -intelligently‖ to those changes. In such a material, we envision semiconducting polymer based sensing, actuation, and information process for on-board decision making to be combined into one active material.This paper describes incremental steps taken towards developing such a multifunctional active material with an intermediate goal of utilizing ACM as a -skin‖ of a soft robot -a robot, made of flexible materials, which is not bounded by its rigid structure and can adjust to its changing environment. We demonstrate the feasibility of utilizing water hammer as a form of directed actuation.

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“…We disregarded the Z direction as the tube existed in a planar space. For more details about experimental setup please see [13]. The experiment included measurement of 20 distinct shapes.…”

Section: B Experimental Setupmentioning

confidence: 99%

An Actuation Model for Soft Robot Based on Amorphous Computational Material

Wang¹,

Yu²,

Yang³

et al. 2014

Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science

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“…The conclusion was that the tether aided by the water hammer effect was able to pull a weight almost twice that of the unaided tether. For more indepth experimental set up and results please see [23]- [24]. …”

Section: A Actuation -Water Hammermentioning

confidence: 99%

“…We disregarded the Z direction as the tube existed in a planar space. For more details about the setup please see [23]- [24].…”

Section: A) Computer Simulationmentioning

confidence: 99%

Structured Computational Polymers for a soft robot: Actuation and cognition

Nawrocki

Yang

Shaheen

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Structured Computational Polymers (SCP) is a concept of layered class of active material that can sense its environment and, due to its cognitive capabilities, react "intelligently" to those changes. In such a material, we envision semiconducting polymer based sensing, actuation, and information processing for on-board decision making to be combined into one active material. This paper describes incremental steps taken towards developing such a multifunctional active material, concentrating on distributed forms of actuation and cognition, with an intermediate goal of utilizing SCP as a "skin" of a soft robot -a robot, made of flexible materials, which is not bounded by its rigid structure and can adjust to its changing environment -with its sensing, cognition, and actuation embedded in the shape. We demonstrate, via experiment and rudimentary simulation, the feasibility of utilizing water hammer as a form of directed, distributed actuation. We also show that distributed form of cognition can be realized via a novel concept termed Synthetic Neural Network (SNN), which is a type of organic neuromorphic architecture modeled after Artificial Neural Network. SNN, based on a single-transistor-single-memristorper-input for an individual neuron, can approximate the sigmoidal activation function with an accuracy of about 3%. A simulation of the SNN is shown to accurately predict the directionality of water hammer propulsion with an accuracy of 7.2 percent.

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“…Figure 6 presents an experiment where a front-mounted vehicle is aided by an active tether, with a weight being placed on top of the tether. A vehicle with an active tether was able to pull a weight of almost double the amount of a passive tether (6.25 kg vs 3.85 kg) [52]. Table 1 For an all-polymer robot, we need to eliminate the wheeled robot from Figure 5 so that only the tubing is actuating itself.…”

Section: Desired Positionmentioning

confidence: 99%

Towards an all-polymer robot for search and rescue

Nawrocki

Shaheen

Yang

et al. 2009

2009 IEEE International Workshop on Safety, Security &Amp; Rescue Robotics (SSRR 2009)

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Abstract-This paper discusses two components suitable for construction of an all-polymer robot, namely a Synthetic Neural Network and water hammer based actuation. A new data processing element, termed Synthetic Neural Network, or SNN, based on a concept of a polymer-based bistable memory device and a conventional transistor made from polymers, is proposed. A phenomenon known as the water hammer effect is described for the purposes of propulsion of the serpentine robot constructed from polymer tubing. Arresting the flow of water in the tube causes it to lurch forward. A relationship between the shape of the hose and the direction of propulsion is investigated with the goal of using the SNN to learn to control the forward progress of the robot based on polymer bend sensors.

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Experimental comparison of robotics locomotion with passive tether and active tether

Cited by 12 publications

References 9 publications

An Actuation Model for Soft Robot Based on Amorphous Computational Material

An Actuation Model for Soft Robot Based on Amorphous Computational Material

Structured Computational Polymers for a soft robot: Actuation and cognition

Towards an all-polymer robot for search and rescue

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