• DocumentCode
    1464878
  • Title

    DTAR—A Dynamic, Tube-Ascending Robot

  • Author

    Degani, Amir ; Choset, Howie ; Mason, Matthew T.

  • Author_Institution
    Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
  • Volume
    27
  • Issue
    2
  • fYear
    2011
  • fDate
    4/1/2011 12:00:00 AM
  • Firstpage
    360
  • Lastpage
    364
  • Abstract
    This paper investigates a novel minimalistic mechanism that ascends tubes. The mechanism is comprised of only a rigid body, two O-rings, and a motor rotating an eccentric mass. We describe the underlying locomotion principle of rocking and jamming, without the use of special bristles or spines, and demonstrate the robustness of this mechanism.
  • Keywords
    mobile robots; robot dynamics; dynamic tube-ascending robot; robot dynamics; robot locomotion; robot mechanism; Approximation methods; Electron tubes; Force; Friction; Jamming; Robots; Structural rings; Miniature robot; tube-climbing;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2011.2108628
  • Filename
    5723760
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1464878