Publication Type : Conference Paper
Publisher : ISARC
Source : Proceedings of the 28th International Symposium on Automation and Robotics in Construction, ISARC 2011, Seoul, p.1178-1183 (2011)
Url : http://www.scopus.com/inward/record.url?eid=2-s2.0-84863770692&partnerID=40&md5=f14560f6480b79e50d90470f8ecea555
Keywords : Actuators, Algorithms, Asymmetric tube, Design and control, Electropneumatic, Feedback mechanisms, Inspection and maintenance, Internal Pressure, Microoptics, Mobile robots, Pipeline inspection, Pneumatic control, Research, Robot applications, Robot gripper, Robotics, Underwater robots
Campus : Amritapuri
School : School of Engineering
Department : Electronics and Communication
Year : 2011
Abstract : In the area of Robotics, the micro-walking robots play a very important role as it is required to perform inspection and maintenance inside pipelines or narrow spaces where people cannot enter. Extensive research work is under way in the design and control of the micro-walking robot. An exhaustive survey of all such robots conveys the idea of higher and higher sophistication with innumerable components and elaborate controls with programmable ability. Micro-walking robots proposed by earlier researchers use flexible micro actuators that have two or more internal chambers whose internal pressures are controlled independently. The proposed micro-walking robot uses flexible micro actuators (FMA) that are having single internal chamber with an innovative Electro-pneumatic control algorithm (EPCA), simple feedback mechanism and which are compact and easy to manufacture. The present work has paved the way for extensive research on this innovative technique as it holds out the true potential for very interesting applications in various areas such as robot grippers, pipeline inspection robots and underwater robots.
Cite this Research Publication : PaSai Dinesh, Raveendra, Rb, Aditya, Kb, Sreedharan, Pb, and Udupa, Gb, “Innovative micro-walking robot using flexible microactuator”, in Proceedings of the 28th International Symposium on Automation and Robotics in Construction, ISARC 2011, Seoul, 2011, pp. 1178-1183.