65 research outputs found
Deployment verification of large CFRP helical high-gain antenna for AIS signals
Deployment verification of large CFRP helical high-gain antenna for AIS signal
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Development of a minimalistic pneumatic quadruped robot for fast locomotion
In this paper, we describe the development of the
quadruped robot ”Ken” with the minimalistic and lightweight
body design for achieving fast locomotion. We use McKibben
pneumatic artificial muscles as actuators, providing high frequency
and wide stride motion of limbs, also avoiding problems
with overheating. We conducted a preliminary experiment,
finding out that the robot can swing its limb over 7.5 Hz
without amplitude reduction, nor heat problems. Moreover, the
robot realized a several steps of bouncing gait by using simple
CPG-based open loop controller, indicating that the robot can
generate enough torque to kick the ground and limb contraction
to avoid stumbling.This work was partially supported by KAKENHI 23220004, KAKENHI
24000012 and KAKENHI 23700233.This is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2012.6490984
Roombots -- Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for static structures
An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching
This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction providing an active, strong, hermaphrodite, completely retractable connection mechanism with a 90 degree symmetry1 and a no-energy consumption in the locked state. The mechanism volume is kept small to fit multiple copies into a single modular robot unit and to be used on as many faces of the robot unit as possible. This way several different lattice like modular robot structures are possible. The large selection for dock-able connection positions will likely simplify self-reconfiguration strategies. Tests with the implemented mechanism demonstrate its applicative potential for self-reconfiguring modular robot
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