DTAR - A dynamic, tube-ascending robot

Amir Degani; Howie Choset; Matthew T. Mason

doi:10.1109/TRO.2011.2108628

DTAR - A dynamic, tube-ascending robot

Amir Degani, Howie Choset, Matthew T. Mason

Research output: Contribution to journal › Article › peer-review

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.

Original language	English
Article number	5723760
Pages (from-to)	360-364
Number of pages	5
Journal	IEEE Transactions on Robotics
Volume	27
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2011.2108628
State	Published - Apr 2011
Externally published	Yes

Keywords

Miniature robot
tube-climbing

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications

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10.1109/TRO.2011.2108628

Cite this

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title = "DTAR - A dynamic, tube-ascending robot",

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 = "Miniature robot, tube-climbing",

author = "Amir Degani and Howie Choset and Mason, {Matthew T.}",

note = "Funding Information: Manuscript received July 1, 2010; revised November 15, 2010; accepted January 18, 2011. Date of publication March 3, 2011; date of current version April 7, 2011. This paper was recommended for publication by Associate Editor T. Murphey and Editor W. K. Chung upon evaluation of the reviewers{\textquoteright} comments. This work was supported in part by the National Science Foundation under Grant IIS 08030826 and in part by the Defense Advanced Research Projects Agency. This work does not necessarily reflect the position or the policy of the United States Government. No official endorsement should be inferred.",

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doi = "10.1109/TRO.2011.2108628",

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DTAR - A dynamic, tube-ascending robot

Abstract

Keywords

All Science Journal Classification (ASJC) codes

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