Innovative Micro-Walking Robot Using Flexible Microactuator

Abstract

Innovative Micro-Walking Robot Using Flexible Microactuator Sai Dinesh P, Roshin Raveendra, Aditya K, Pramod Sreedharan, Ganesha Udupa Pages 1178-1183 (2011 Proceedings of the 28th ISARC, Seoul, Korea, ISBN 978-89-954572-4-5, ISSN 2413-5844) Abstract: In the area of Robotics, the micro-walking robots play a very important role as it is required to perform inspection and maintenance inside pipelines or narrow spaces where people cannot enter. Extensive research work is under way in the design and control of the micro-walking robot. An exhaustive survey of all such robots conveys the idea of higher and higher sophistication with innumerable components and elaborate controls with programmable ability. Micro- walking robots proposed by earlier researchers use flexible micro actuators that have two or more internal chambers whose internal pressures are controlled independently. The proposed micro-walking robot uses flexible micro actuators (FMA) that are having single internal chamber with an innovative Electro-pneumatic control algorithm (EPCA), simple feedback mechanism and which are compact and easy to manufacture. The present work has paved the way for extensive research on this innovative technique as it holds out the true potential for very interesting applications in various areas such as robot grippers, pipeline inspection robots and underwater robots. Keywords: Asymmetric Tube, Electro-pneumatic Control Algorithm (EPCA), Flexible Micro Actuator (FMA) DOI: https://doi.org/10.22260/ISARC2011/0216 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley