ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot

Provancher, William R.; Jensen-Segal, S. I.; Fehlberg, Mark A.

doi:10.1109/tmech.2010.2053379

Cited by 99 publications

(43 citation statements)

References 45 publications

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“…Adsorption methods for wall surface movement have used the following proposed techniques: by using the magnetic circuit that the magnetic pole of the permanent magnet was placed in turn, type that these were inserted in a caterpillar (Shen et al, 2011;Lee et al, 2011), type using an absorption force of a sucker manufactured with a sponge or flexible rubber (Yoshida et al, 2011;Suzuki et al, 2010), type capable of movement on an iron plate by controlling an attractive force of an electromagnet inserted in a robot (Khiradeet al, 2014), type capable of movement on an iron plate by combination a permanent magnet and an iron wheel (Kim et al, 2010;Kim et al, 2008), type to adsorb by producing negative pressure using a pump (Subramanyam et al, 2011;Jae et al, 2013), by vibrating many caps of the sucker (Wang et al, 2008;Wang et al, 2010), type capable of movement on the rough surface such as the concrete using a claw gripper (Xu et al, 2012;Funatsu et al, 2014), type capable of movement on a wall surface using adhesive material (Provancher et al, 2011;Kute et al, 2010;Unver et al, 2009). …”

Section: Introducationmentioning

confidence: 99%

Influence of Similarity Law on Movement Characteristics of Vibration Actuator

Yaguchi¹,

Itoh²

2018

MER

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Currently, a belt conveyor or an automatic guided vehicle is used as a conveying device in a factory. However, Transportation of the ceiling surface and the wall surface in these devices is impossible. Elevator is used for conveying from the lower floor to the upper floor. Therefore, the conveying device capable of movement on a wall and a ceiling significantly improves the efficiency of work. Based on this background, development of working robots capable of transporting on a wall surface is required. In the present study, the vibration actuator with a very simple structure capable of movement on a magnetic substance by means of the inertial force of a vibration model was again considered. Furthermore, upsizing for the actuator in order to improve the propulsion characteristics was considered. The volume of the permanent magnet constituting the vibration component of the actuator was increased according to the similarity rule. Four models of actuator with approximately equal drive frequency were prototyped and experimentally tested. The experimental results demonstrate that the maximum efficiency of the actuator for a standard model pulling its own weight was 27.1 %. Furthermore, the actuator is able to pull a load mass of 170 g. For the actuator of 5 times model, the actuator is able to climb upward at 9.5 mm/s while pulling a load mass of 3500 g. This actuator is able to propel a load mass of approximately 36 times the weight of the actuator itself.

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Section: Introducationmentioning

confidence: 99%

Influence of Similarity Law on Movement Characteristics of Vibration Actuator

Yaguchi¹,

Itoh²

2018

MER

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“…Researchers in motion control evaluates motion to develop effective way to save energy [5], [6]. In particular, they focus on issues such as optimized trajectory in energy point of view, short time task execution, etc [7], [8]. However, clear evaluation about contact motion does not yet exist.…”

Section: Introductionmentioning

confidence: 99%

A method to derive on time mechanical power factor

Mizoguchi

Nozaki

Ohnishi

2014

2014 IEEE International Conference on Industrial Technology (ICIT)

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This paper takes care of window problem in mechanical power factor calcuration. Unlike power factor in electrical system, mechanical power factor contains problem of taking window in the motion. A motion is composed of various wave form which changes over time. On the other hand, wave form of the electrical system is always sinusoidal when it is alternative current system. When thinking about power factor in mechanical system, when to take window over the motion is critical. This paper addresses a problem by calculating power factor on time. Realtime power factor calcuration using shorttime Fourier transformation is explained in the paper. Reliability of the calcuration is shown by comparing experimental data with theoretical result.

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“…Robots have also applied tails for a variety of purposes. Climbing robots often use a tail to provide normal force against the climbing surface, producing an anti-peeling moment [26] [23][11] [19]. Aquatic robots have used tails for turning based on hydrodynamic forces [5].…”

Section: Introductionmentioning

confidence: 99%

Precise dynamic turning of a 10 cm legged robot on a low friction surface using a tail

Kohut

Pullin

Haldane

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-For maximum maneuverability, terrestrial robots need to be able to turn precisely, quickly, and with a small radius. Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. We developed a palm-sized legged robot, called TAYLRoACH. The tailed robot was able to make rapid, precise turns using only the actuation of a tail appendage. By rapidly rotating the tail as the robot runs forward, the robot was able to make sudden 90• turns at 360• s −1 . Unlike other robots, this is done with almost no change in its running speed. We have also modeled the dynamics of this maneuver, to examine how features, such as tail length and mass, affect the robot's turning ability. This approach has produced turns with a radius of 0.4 body lengths at 3.2 body lengths per second running speed. Using gyro feedback and bang-bang control, we achieve an accuracy of ± 5• for a 60• turn.

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ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot

Cited by 99 publications

References 45 publications

Influence of Similarity Law on Movement Characteristics of Vibration Actuator

Influence of Similarity Law on Movement Characteristics of Vibration Actuator

A method to derive on time mechanical power factor

Precise dynamic turning of a 10 cm legged robot on a low friction surface using a tail

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