Pivot Walking of an Inertially Actuated Robot

Kashki, M.; Ercan, Selcuk; Hürmüzlü, Yildirim

doi:10.1109/tro.2016.2593478

Cited by 11 publications

(5 citation statements)

References 24 publications

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“…They have received some attention in the literature [191,192,193,184,194,195,196,197,198,199,187,200] [200, Table I], and it is recognized that they also can be used in biped locomotion during flight phases to improve the stability [201]. The fact that they belong to robot-object systems was already noticed in [2, section 8.…”

Section: Inertially Driven Machinesmentioning

confidence: 99%

“…See the derivations in section 3.6.3 for the all-sticking mode: this is a very constrained control problem. Accessibility of an inertially driven crawling system is studied in [191], where friction is shown to be necessary for controllability (such a conclusion is obvious in simpler systems like frictional oscillators, where no friction merely means total decoupling between (1) (a) and (b)). In a more general setting (see section 2.6), persistent contact phases are low-dimensional controlled dynamics with control constraints.…”

Section: Partial Subtask Controllabillitymentioning

confidence: 99%

See 1 more Smart Citation

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato

2023

Annual Reviews in Control

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Section: Inertially Driven Machinesmentioning

confidence: 99%

Section: Partial Subtask Controllabillitymentioning

confidence: 99%

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato

2023

Annual Reviews in Control

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“…By changing the magnitude and the direction of the magnetic field vector, the millirobot can be actuated and moved in a specific direction. The motions are inspired by inertial actuation, which was developed in our lab (Zoghzoghy et al, 2015;Kashki et al, 2016;Razzaghi et al, 2019). Each millirobot can move in a variety of locomotion modes, such as pivot walking, tapping, and tumbling each with respective advantages and disadvantages (one can find more details in Al Khatib et al (2020)).…”

Section: Introductionmentioning

confidence: 99%

Automated group motion control of magnetically actuated millirobots

2023

Self Cite

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Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks that are not possible to perform using only one robot including assembly and manufacturing at small scales, manipulation of micro- and nano- objects, and robot-based structuring of small-scale materials. In this article, we focus on tasks that can be achieved using a group of small-scale robots like pattern formation. These robots are typically externally actuated due to their size limitation. Yet, one faces the challenge of controlling a group of robots using a single global input. In this study, we propose a control algorithm to position individual members of a group in predefined positions. In our previous work, we presented a small-scaled magnetically actuated millirobot. An electromagnetic coil system applied external force and steered the millirobots in various modes of motion such as pivot walking and tumbling. In this paper, we propose two new designs of these millirobots. In the first design, the magnets are placed at the center of body to reduce the magnetic attraction force between the millirobots. In the second design, the millirobots are of identical length with two extra legs acting as the pivot points and varying pivot separation in design to take advantage of variable speed in pivot walking mode while keeping the speed constant in tumbling mode. This paper presents an algorithm for positional control of n millirobots with different lengths to move them from given initial positions to final desired ones. This method is based on choosing a leader that is fully controllable. Then, the motions of other millirobots are regulated by following the leader and determining their appropriate pivot separations in order to implement the intended group motion. Simulations and hardware experiments validate these results.

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“…Kashki et al [18] introduced an inertially actuated robot that can produce a type of wobbling gate, which they called "pivot walking". This type of locomotion is based on using two spinners that cause the robot to successively pivot and spin about two distinct points.…”

Section: Introductionmentioning

confidence: 99%