Modeling of a Mobile Robot with Worm-like Movement

Grămescu, Bogdan; Niţu, C.; Alexandrescu, N.

doi:10.1109/eurcon.2005.1630171

Cited by 1 publication

(1 citation statement)

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“…In the last several decades, many robotics researchers have developed peristaltic locomotion robots [1], [2], [3] and [4]. There are similarities among peristaltic locomotion robots namely drives; DC motors, solenoid actuators, shape memory alloy (SMA), and pneumatic-high frequency drives and miniaturisation is a common goal.…”

Section: Introductionmentioning

confidence: 99%

Single motor actuated peristaltic wave generator for a soft bodied worm robot

Winstone

Pipe

Melhuish

et al. 2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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This paper presents the design and development of a single motor actuated peristaltic worm robot with three segments using a bio-inspired method of locomotion with one actuator that achieves optimised worm like peristaltic motion. Each segment consists of two solid circular disks that have a tendon connected through to the drive mechanism using a Bowden cable and a soft rubber skin that deforms under the compression of the tendon. Our hypothesis that a tuned peristaltic waveform can achieve improved performance of locomotion distance and clamping strength is proven using an initial test platform capable of demonstrating varying waveform types with multiple actuators. Three experiments were undertaken: (i) moving along a flat surface, (ii) moving through a confined tunnel (iii) moving through a confined tunnel whilst pulling a payload. Results from these experiments have identified the optimal parameters for a smart gearbox capable of achieving the same optimal peristaltic waveform signal as the more complex test platform but with only one actuator driving all three worm segments. Unlike other examples of peristaltic worm robots, this example uses a control method embedded within the mechanics of the design removing excessive number of actuators which contributes to miniaturisation, reduces power consumption and simplifies the overall design.

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