Abstract
We wish for robots to manipulate objects and move flexibly in three-dimensional spaces. We describe a robot that can move on a web of surfaces oriented around arbitrary directions in three-space and a set of control algorithms that implements motion in three-dimensions. The robot can manipulate objects in three dimensions while moving, by using the same set of physical resources and control algorithms. This robot is an inchworm-like robot with a simple, modular, and flexible design. Finally, we discuss our experiments.
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Kotay, K., Rus, D. The Inchworm Robot: A Multi-Functional System. Autonomous Robots 8, 53–69 (2000). https://doi.org/10.1023/A:1008940918825
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DOI: https://doi.org/10.1023/A:1008940918825