This research investigates the rectilinear locomotion of a meta-structural robot inspired by the earthworm. First of all, an equivalent multi-segment model of the meta-structural locomotion robot is derived. By the method of averaging, the robot’s average steady-state velocity is obtained, which is a function of the phase differences among segments. Then a novel locomotion control scheme of adjusting actuation phases is proposed for the robot. It is shown that such control of the phase differences among actuators can significantly tailor not only the magnitude but also the direction of the robot’s average steady-state velocity. Locomotion tests with equal phase difference among segments are carried out on the robot prototype in a horizontal pipe. The predicted phase-velocity relationship is verified, and it is shown that the proposed control is more effective than the more traditional peristaltic locomotion gaits. The presented earthworm-like robot belongs to the general class of metastructures, the concept of synthesizing adaptive structures via modular element design and integration. This study lays the foundation for understanding and advancing the properties of such meta-structural locomotion robots.
Skip Nav Destination
ASME 2014 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 8–10, 2014
Newport, Rhode Island, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-4615-5
PROCEEDINGS PAPER
Phase Control of a Bio-Inspired Meta-Structural Locomotion Robot
Hongbin Fang,
Hongbin Fang
University of Michigan, Ann Arbor, MI
Tongji University, Shanghai, China
Search for other works by this author on:
Chenghao Wang,
Chenghao Wang
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
K. W. Wang,
K. W. Wang
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Jian Xu
Jian Xu
Tongji University, Shanghai, China
Search for other works by this author on:
Hongbin Fang
University of Michigan, Ann Arbor, MI
Tongji University, Shanghai, China
Chenghao Wang
University of Michigan, Ann Arbor, MI
Suyi Li
University of Michigan, Ann Arbor, MI
K. W. Wang
University of Michigan, Ann Arbor, MI
Jian Xu
Tongji University, Shanghai, China
Paper No:
SMASIS2014-7745, V002T06A018; 9 pages
Published Online:
December 8, 2014
Citation
Fang, H, Wang, C, Li, S, Wang, KW, & Xu, J. "Phase Control of a Bio-Inspired Meta-Structural Locomotion Robot." Proceedings of the ASME 2014 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bioinspired Smart Materials and Systems; Energy Harvesting. Newport, Rhode Island, USA. September 8–10, 2014. V002T06A018. ASME. https://doi.org/10.1115/SMASIS2014-7745
Download citation file:
21
Views
Related Proceedings Papers
Related Articles
Large Deflection Analysis of a Biomimetic Lobster Robot Antenna due to Contact and Flow
J. Appl. Mech (November,2001)
On the Technological Instantiation of a Biomimetic Leg Concept for Agile Quadrupedal Locomotion
J. Mechanisms Robotics (August,2015)
Helical Actuator–Driven Inchworm Robot Design and Prototype
J. Comput. Inf. Sci. Eng (May,2024)
Related Chapters
A Robot Arm Prototype — Software
International Conference on Measurement and Control Engineering 2nd (ICMCE 2011)
FSF of Serial-kinematics Systems
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Accuracy of an Axis
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy