LOCOMOTION
Design and implementation of an inchworm robot
Yu-Yuan Yuan, Wei-Chun Lu, Chih-Jan Kao, Jian-Jyun Hung, Pei‐Chun Lin
- Year
- 2016
- Citations
- 9
Abstract
This paper describes the development of an inchworm robot. A new adhesion mechanism was inspired by the inchworm's behavior and empirically designed by using active shape control of suction cups. The equation of the motions of the robot are derived, and three gaits are developed. The robot is built and experimentally evaluated.
Keywords
RobotMechanism (biology)Computer scienceControl engineeringRobot kinematicsRobot controlSimulationMobile robotEngineeringControl theory (sociology)
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