Vibration actuator capable of movement on magnetic substance based on new motion principle

In every country, the construction of large steel bridges, such as cable-stayed bridges, is carried out actively, and the number of bridges has been progressively increasing. In the case of large steel bridges, inspections must be carried out every five years. Because frequent inspections of such bridges are required, working robots capable of performing inspections in difficult environments would be very useful. This paper proposes a vibration actuator with a very simple structure capable of movement on a magnetic substance via the inertial force of a mass–spring model. Through theoretical analysis using the energy method, it was determined that the vibration actuator is propelled by the difference between the frictional forces acting during the forward and backward motions of the actuator. The experimental and analytical results were compared, verifying the validity of the novel motion principle. Additionally, based on the asymmetric magnetic field that arises when a copper wire is asymmetrically wound around the iron core of an electromagnet, a method of increasing the magnetic field strength at one pole of the electromagnet is newly proposed. By attaching an iron plate to the iron core of the electromagnet, the effects of the resulting asymmetric magnetic field of the electromagnet on the actuator motion were examined. The experimental results indicate that the actuator is able to climb upward while pulling a load mass of 110 g. The maximum efficiency of the actuator was 20.5 % for an actuator pulling its own weight. The efficiency of the actuator with the attached iron plate was considerably greater than that without the iron plate

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

NASA Tech Briefs, May 1994

Topics covered include: Robotics/Automation; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery/Automation; Manufacturing/Fabrication; Mathematics and Information Sciences; Life Sciences; Books and Reports

Morphino: A nature-inspired tool for the design of shape-changing interfaces

The HCI community has a strong and growing interest in shape-changing interfaces (SCIs) that can offer dynamic af- fordance. In this context, there is an increasing need for HCI researchers and designers to form close relationships with dis- ciplines such as robotics and material science in order to be able to truly harness the state-of-the-art in morphing technolo- gies. To help these synergies arise, we present Morphino: a card-based toolkit to inspire shape-changing interface designs. Our cards bring together a collection of morphing mechanisms already established in the multidisciplinary literature and illustrate them through familiar examples from nature. We begin by detailing the design of the cards, based on a review of shape-change in nature; then, report on a series of design sessions conducted to demonstrate their usefulness in generating new ideas and in helping end-users gain a better understanding of the possibilities for shape-changing materials

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Towards understanding of climbing, tip-over prevention and self-righting behaviors in Hexapoda

Die vorliegende Dissertation mit dem Titel “Towards understanding of climbing, tip-over prevention and self-righting behaviors in Hexapoda” untersucht in drei Studien exemplarisch, wie (i) Wüstenameisen ihre Beine einsetzen um An- und Abstiege zu überwinden, wie (ii) Wüsten- und Waldameisen ein Umkippen an steilen Anstiegen vermeiden, und wie sich (iii) Madagaskar-Fauchschaben, Amerikanische Großschaben und Blaberus discoidalis Audinet-Servill, 1839 aus Rückenlagen drehen und aufrichten. Neuartige biomechanischen Beschreibungen umfassen unter anderem: Impuls- und Kraftwirkungen einzelner Ameisenbeine auf den Untergrund beim Bergauf- und Bergabklettern, Kippmomente bei kletternden Ameisen, Energiegebirge-Modelle (energy landscapes) zur Quantifizierung der Körperform für die funktionelle Beschreibung des Umdrehens aus der Rückenlage

Mobile Robotics

The book is a collection of ten scholarly articles and reports of experiences and perceptions concerning pedagogical practices with mobile robotics.“This work is funded by CIEd – Research Centre on Education, project UID/CED/01661/2019, Institute of Education, University of Minho, through national funds of FCT/MCTES-PT.