Document Detail


Shape memory alloy-based small crawling robots inspired by C. elegans.
MedLine Citation:
PMID:  21992959     Owner:  NLM     Status:  Publisher    
Abstract/OtherAbstract:
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.
Authors:
Hyunwoo Yuk; Daeyeon Kim; Honggu Lee; Sungho Jo; Jennifer H Shin
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Publication Detail:
Type:  JOURNAL ARTICLE     Date:  2011-10-12
Journal Detail:
Title:  Bioinspiration & biomimetics     Volume:  6     ISSN:  1748-3190     ISO Abbreviation:  -     Publication Date:  2011 Oct 
Date Detail:
Created Date:  2011-10-13     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  101292902     Medline TA:  Bioinspir Biomim     Country:  -    
Other Details:
Languages:  ENG     Pagination:  046002     Citation Subset:  -    
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon, Korea.
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