5 research outputs found
Wirelessly-Controlled Untethered Piezoelectric Planar Soft Robot Capable of Bidirectional Crawling and Rotation
Electrostatic actuators provide a promising approach to creating soft robotic
sheets, due to their flexible form factor, modular integration, and fast
response speed. However, their control requires kilo-Volt signals and
understanding of complex dynamics resulting from force interactions by on-board
and environmental effects. In this work, we demonstrate an untethered planar
five-actuator piezoelectric robot powered by batteries and on-board
high-voltage circuitry, and controlled through a wireless link. The scalable
fabrication approach is based on bonding different functional layers on top of
each other (steel foil substrate, actuators, flexible electronics). The robot
exhibits a range of controllable motions, including bidirectional crawling (up
to ~0.6 cm/s), turning, and in-place rotation (at ~1 degree/s). High-speed
videos and control experiments show that the richness of the motion results
from the interaction of an asymmetric mass distribution in the robot and the
associated dependence of the dynamics on the driving frequency of the
piezoelectrics. The robot's speed can reach 6 cm/s with specific payload
distribution.Comment: Accepted to the 2023 IEEE International Conference on Robotics and
Automation (ICRA
Advanced Mobile Robotics: Volume 3
Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective
Desarrollo de algoritmos para la navegación de un robot modular con un único actuador en entornos conocidos
En el presente trabajo se propone el diseño y estudio de diversos algoritmos
de navegación para un robot modular con un único actuador, el cual se desplaza mediante giros.
Los entornos sobre los que se realizan dichos experimentos son entornos conocidos de antemano.
La elección del camino óptimo se realiza empleando experimentos basados en movimentos reales
por parte del robot. Además, se propone el diseño de un controlador en posición y orientación
Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress
Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018