research-article

Earthworm like modular robot using active surface gripping mechanism for peristaltic locomotion

Authors:

Anirban Chowdhury,

Subhasis BhaumikAuthors Info & Claims

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

Article No.: 54, Pages 1 - 6

https://doi.org/10.1145/3132446.3134918

Published: 28 June 2017 Publication History

Abstract

The paper discusses the complete development of a biologically inspired robot which incorporates the continuous wave peristaltic motion of an earthworm, for its locomotion. The robot has two body segments which can expand and contract with a phase difference two create a longitudinal wave from the front to the rear end of the body and uses variable surface friction generation mechanism to convert its body movements into locomotion. The expansion and contraction of the body segments are achieved using lead-screw mechanism and the variable surface friction generation is done by a double crank mechanism mounted active gripping technique. The robot has also a steering mechanism through an active revolute joint between the two segments. The locomotion of the robot is tested on different flat surfaces such as soft floor-mat, concrete, and wood for straight-line motion. The locomotion is also tested in inclined surface by varying the inclination. The ability of following different curved trajectories is also tested on PVC flex surface for circular and sinusoidal trajectories. The motion planning strategy suitable for the developed robot for following curved trajectories is also discussed. Overall, the present work gives a new design approach of building earthworm like peristaltic mobile robots which can navigate through flat as well as inclined even surfaces.

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Cited By

Attar HAbu-Jassar AYevsieiev VLyashenko VNevliudov ILuhach A(2022)Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family CaterpillarComputational Intelligence and Neuroscience10.1155/2022/30461162022Online publication date: 1-Jan-2022
https://dl.acm.org/doi/10.1155/2022/3046116
Pfeil SHenke MKatzer KZimmermann MGerlach G(2020)A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer ActuatorsFrontiers in Robotics and AI10.3389/frobt.2020.000097Online publication date: 11-Feb-2020
https://doi.org/10.3389/frobt.2020.00009
Lu XWang KHu T(2020)Development of an annelid-like peristaltic crawling soft robot using dielectric elastomer actuatorsBioinspiration & Biomimetics10.1088/1748-3190/ab8af615:4(046012)Online publication date: 9-Jun-2020
https://doi.org/10.1088/1748-3190/ab8af6
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cover image ACM Other conferences

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

June 2017

325 pages

ISBN:9781450352949

DOI:10.1145/3132446

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IIT-Delhi: IIT-Delhi

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Published: 28 June 2017

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AIR '17

AIR '17: Advances in Robotics

June 28 - July 2, 2017

New Delhi, India

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Cited By

Attar HAbu-Jassar AYevsieiev VLyashenko VNevliudov ILuhach A(2022)Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family CaterpillarComputational Intelligence and Neuroscience10.1155/2022/30461162022Online publication date: 1-Jan-2022
https://dl.acm.org/doi/10.1155/2022/3046116
Pfeil SHenke MKatzer KZimmermann MGerlach G(2020)A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer ActuatorsFrontiers in Robotics and AI10.3389/frobt.2020.000097Online publication date: 11-Feb-2020
https://doi.org/10.3389/frobt.2020.00009
Lu XWang KHu T(2020)Development of an annelid-like peristaltic crawling soft robot using dielectric elastomer actuatorsBioinspiration & Biomimetics10.1088/1748-3190/ab8af615:4(046012)Online publication date: 9-Jun-2020
https://doi.org/10.1088/1748-3190/ab8af6
Liu BOzkan-Aydin YGoldman DHammond F(2019)Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)10.1109/ROBOSOFT.2019.8722821(828-833)Online publication date: Apr-2019
https://doi.org/10.1109/ROBOSOFT.2019.8722821

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