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Development of a Crawling Microrobot With High Steering Capability and High Stability to Navigate Through a Sharply Bent Tubular Environment

Title
Development of a Crawling Microrobot With High Steering Capability and High Stability to Navigate Through a Sharply Bent Tubular Environment
Author
장건희
Keywords
Crawling; friction; microrobot; steering; tubular environment
Issue Date
2014-11
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Citation
IEEE TRANSACTIONS ON MAGNETICS, 권: 50, 호: 11, 논문 번호: 8500704
Abstract
We develop a crawling microrobot with high stability and high steering capability to navigate through a sharply bent tubular environment. The proposed microrobot can stably crawl forward and backward using the asymmetric friction force between a flexible leg and a wall. Our design can effectively change the moving direction even in sharply bent tubular environments using both the magnetic torque and the propulsive force generated by the crawling motion. The steering angle of the microrobot is simulated using a mathematical model of cantilever beam. We then perform various experiments to verify the validity of the proposed microrobot.
URI
http://ieeexplore.ieee.org/document/6971625/http://hdl.handle.net/20.500.11754/51408
ISSN
0018-9464; 1941-0069
DOI
10.1109/TMAG.2014.2324589
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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