Pitch-Up Motion Mechanism with Heat Welding by Soft Inflatable Growing Robot

Yuki Satake, Hiroyuki Ishii

研究成果: Article査読

抄録

Soft growing robots have recently attracted considerable interest. They are expected to operate in complicated environments leveraging their flexibility and adaptability. However, some of them are unable to maintain their bending shape without contact with an object, and some of their mechanisms are complex. In this article, we propose a novel heat welding mechanism for pitch-up motion without any support. The proposed robot uses a gusset folded tube and welds its gusset parts. The welded tube is bent, and the robot performs a pitch-up motion. In addition, we experimentally investigate the characteristics of welded bending tubes and develop a stiffness model and bending angle model. The results demonstrate that they depend on the tube diameter, weld shape, and inner pressure. We conducted experiments to evaluate the performance of the robot and confirmed that the maximum bending moment based on which the robot can maintain its bending shape increases under a higher inner pressure, and a large bending angle is obtained by continuous bending. Further, we confirmed that proposed models can adequately simulate the pitch-up motion of the robot. The proposed mechanism enables the robot to perform novel pitch-up motion and expands the application of growing robots.

本文言語English
ページ(範囲)5071-5078
ページ数8
ジャーナルIEEE Robotics and Automation Letters
7
2
DOI
出版ステータスPublished - 2022 4月 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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