RSAW, A Highly Reconfigurable Wave Robot: Analysis, Design, and Experiments
| Autor: | Dan Shachaf, David Zarrouk, Ori Inbar |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Plane (geometry) Computer science Mechanical Engineering 0206 medical engineering Biomedical Engineering 02 engineering and technology Kinematics 020601 biomedical engineering DC motor Computer Science Applications Human-Computer Interaction 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Climbing Robot Climb Computer Vision and Pattern Recognition Turning radius Actuator Simulation |
| Zdroj: | IEEE Robotics and Automation Letters. 4:4475-4482 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2019.2932583 |
| Popis: | This letter presents a highly reconfigurable wave robot named RSAW. RSAW is a reconfigurable version of our recently developed single actuator wave robot (SAW) that produces a continuous wave motion. The robot is composed of two waves attached to each other through an actuated universal (U) joint which allows the robot to rotate its yaw to steer its direction in the plane and to raise its pitch to climb over obstacles. Its symmetrical design enables the RSAW to operate even when flipped over. This letter presents the design of the robot, an analysis of its kinematics and dynamics and a prototype of RSAW that was designed based on this analysis. We describe multiple experiments using the robot to verify its crawling and climbing capabilities, and its turning radius. The RSAW can travel at a speed of up to 19 cm/s and climb over obstacles that are 10 cm high. The RSAW can crawl on multiple challenging surfaces including grass, gravel, stones and dirt (see video). |
| Databáze: | OpenAIRE |
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