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Artificial Life and Robotics
Erschienen in: Artificial Life and Robotics 1/2020

05.10.2019 | Original Article

Deformable tensegrity structure underwater robot with a transformation mechanism

verfasst von: Mizuho Shibata, Norimitsu Sakagami

Erschienen in: Artificial Life and Robotics | Ausgabe 1/2020

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Abstract

Underwater robots for inspecting marine structures such as breakwaters, pipes and quay walls require mobility not only for self-transport but for rotation during inspection. To facilitate rotation mobility, we have proposed a portable, lightweight underwater robot whose performance to translate and rotate is achieved by it altering its shape. The shape is that of a three-strut tensegrity structure of three pipes connected with rubber strings. This manuscript describes a transformation mechanism for an underwater robot with a deformable tensegrity structure. The transformation mechanism includes a winding unit with a planetary gear. We show that the transformation mechanism has a self-locking feature by selecting a high gear ratio of the winding unit. We also evaluate the fluid characteristics of the robot with the transformation mechanism in several experiments in a circulating water tank to investigate the effect of the transformation mechanism.
Vorheriger Artikel 3-D shape recognitions of target objects for stacked rubble withdrawal works performed by rescue robots
Nächster Artikel A motion imitation system for humanoid robots with inference-based optimization and an auditory user interface

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Metadaten
Titel
Deformable tensegrity structure underwater robot with a transformation mechanism
verfasst von
Mizuho Shibata
Norimitsu Sakagami
Publikationsdatum
05.10.2019
Verlag
Springer Japan
Erschienen in
Artificial Life and Robotics / Ausgabe 1/2020
Print ISSN: 1433-5298
Elektronische ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-019-00563-9

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