| Publication type: |
Article in Proceedings |
| Author: |
Christian Mandel, Udo Frese |
| Editor: |
Achim J. Lilienthal, Tom Duckett |
| Title: |
Annelid - a Novel Design for Actuated Robots Inspired by Ringed Worm`s Locomotion |
| Book / Collection title: |
Proceedings of the 5th European Conference on Mobile Robots (ECMR 2011) |
| Page(s): |
265 – 270 |
| Year published: |
2011 |
| Abstract: |
This paper describes the development of a simulation
software that advances the idea of a robotic device inspired
by ringed worm’s locomotion. Its basic design is made up of
an elongated body that is composed of a spring-style skeleton
which is coated by a flexible skin. Our principle approach is to
choose a shape memory alloy material for the skeleton, resulting
in different spring forces exerted by the body under varying
temperatures. The overall approach requires the elastic skin to
prestress the whole body in its rest position, so that it can spatially
extend when thermal energy is induced to the system, and relax
when an inbuilt air cooling mechanism dissipates the heat. |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/mandelecmr11.pdf |
| Status: |
Reviewed |
| Last updated: |
14. 10. 2011 |
