Modeling and analysis of ciliary micro-hopping locomotion actuated by an eccentric motor in a microgravity

Kenji Nagaoka, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents the modeling and analysis of ciliary micro-hopping locomotion actuated by an eccentric motor, for enabling mobile robots to explore asteroids. Under the proposed system, elastic cilia are attached to the surface of the robot; this arrangement should enable the robot to have better mobility in a microgravity environment. However, in the development of the ciliary micro-hopping mechanism theoretical modeling and analysis of the interactive mechanics between the cilia and the environment pose technical challenges that need to be addressed. In this paper, we present the dynamics modeling of the ciliary micro-hopping locomotion actuated by an eccentric motor, along with its experimental validations and numerical simulations. The results of this study contribute to the design optimization of both the cilia mechanism and the motor control scheme.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages763-768
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Modeling and analysis of ciliary micro-hopping locomotion actuated by an eccentric motor in a microgravity'. Together they form a unique fingerprint.

  • Cite this

    Nagaoka, K., & Yoshida, K. (2013). Modeling and analysis of ciliary micro-hopping locomotion actuated by an eccentric motor in a microgravity. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 763-768). [6696437] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696437