DocumentCode :
2409720
Title :
Experimental validation of locomotion efficiency of worm-like robots and contact compliance
Author :
Zarrouk, David ; Sharf, Inna ; Shoham, Moshe
Author_Institution :
Fac. of Mech. Eng., Technion - Israel Inst. of Technol., Haifa, Israel
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
5080
Lastpage :
5085
Abstract :
Biological vessels are characterized by their substantial compliance and low friction which present a major challenge for crawling robots for minimally invasive medical procedures. Quite a number of studies considered the design and construction of crawling robots, however, very few focused on the interaction between the robots and the flexible environment. In a previous study, we derived the analytical efficiency of worm locomotion as a function of the number of cells, friction coefficients, normal forces and local (contact) tangential compliance. In this paper, we generalize our previous analysis to include dynamic and static coefficients of friction, determine the conditions of locomotion as function of the external resisting forces and experimentally validate our previous and newly obtained theoretical results. Our experimental setup consists of worm robot prototypes, flexible interfaces with known compliance and a Vicon motion capture system to measure the robot positioning. Separate experiments were conducted to measure the tangential compliance of the contact interface which is required for computing the analytical efficiency. The validation experiments are shown to be in clear match with the theoretical predictions. Specifically, the convergence of the tangential deflections to an arithmetic series and the partial and overall loss of locomotion verify the theoretical predictions.
Keywords :
control engineering computing; friction; human-robot interaction; legged locomotion; medical robotics; motion control; position measurement; Vicon motion capture system; analytical efficiency; arithmetic series; biological vessels; contact compliance; contact interface; crawling robots; dynamic coefficient of friction; experimental validation; external resisting forces; flexible environment; flexible interfaces; friction coefficients; local contact tangential compliance; locomotion efficiency; minimally invasive medical procedures; normal forces; overall locomotion loss; partial locomotion loss; robot interaction; robot positioning measurement; static coefficients of friction; substantial compliance; tangential deflections; worm locomotion; worm robot prototypes; worm-like robots; Force; Force sensors; Friction; Grippers; Parallel robots; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224782
Filename :
6224782
Link To Document :
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