期刊
BIOINSPIRATION & BIOMIMETICS
卷 6, 期 4, 页码 -出版社
IOP PUBLISHING LTD
DOI: 10.1088/1748-3182/6/4/046002
关键词
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资金
- KAIST KI for Design of Complex Systems
- Korean National Research Foundation [NRF 2009-0073354, NRF 2010-0016886]
- Korean Government (MKE)
Inspired by its simple musculature, actuation and motion mechanisms, we have developed a small crawling robot that closely mimics the model organism of our choice: Caenorhabditis elegans. A thermal shape memory alloy (SMA) was selected as an actuator due to the similarities of its properties to C. elegans muscles. Based on the anatomy of C. elegans, a 12-unit robot was designed to generate a sinusoidal undulating motion. Each body unit consisting of a pair of SMA actuators is serially connected by rigid links with an embedded motion control circuit. A simple binary operation-based motion control mechanism was implemented using a microcontroller. The assembled robot can execute C. elegans-like motion with a 0.17 Hz undulation frequency. Its motion is comparable to that of a real worm.
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