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