1,916 research outputs found
Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment
Much current study of legged locomotion has rightly focused on foot traction
forces, including on granular media. Future legged millirobots will need to go
through terrain, such as brush or other vegetation, where the body contact
forces significantly affect locomotion. In this work, a (previously developed)
low-cost 6-axis force/torque sensing shell is used to measure the interaction
forces between a hexapedal millirobot and a set of compliant beams, which act
as a surrogate for a densely cluttered environment. Experiments with a
VelociRoACH robotic platform are used to measure lift and drag forces on the
tactile shell, where negative lift forces can increase traction, even while
drag forces increase. The drag energy and specific resistance required to pass
through dense terrains can be measured. Furthermore, some contact between the
robot and the compliant beams can lower specific resistance of locomotion. For
small, light-weight legged robots in the beam environment, the body motion
depends on both leg-ground and body-beam forces. A shell-shape which reduces
drag but increases negative lift, such as the half-ellipsoid used, is suggested
to be advantageous for robot locomotion in this type of environment.Comment: First three authors contributed equally. Accepted to ICRA 201
A compact targeted drug delivery mechanism for a next generation wireless capsule endoscope
This paper reports a novel medication release and delivery mechanism as part of a next generation wireless capsule endoscope (WCE) for targeted drug delivery. This subsystem occupies a volume of only 17.9mm3 for the purpose of delivering a 1 ml payload to a target site of interest in the small intestinal tract. An in-depth analysis of the method employed to release and deliver the medication is described and a series of experiments is presented which validates the drug delivery system. The results show that a variable pitch conical compression spring manufactured from stainless steel can deliver 0.59 N when it is fully compressed and that this would be sufficient force to deliver the onboard medication
Comparing trotting and turning strategies on the quadrupedal Oncilla Robot
In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest robustness against parameter changes. Furthermore, we analyzed the importance of using the scapulae for turning, from which we observed that although not necessary, they are needed for turning with a higher speed
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