지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,923 - 1,926 (4page)
이용수
이 논문의 연구 히스토리 (2)
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
For the actuation of mini-robots, electromagnetic based actuation (EMA) methods were proposed. EMA system has many advantages for the wireless actuation of mini-robots. This paper introduces our proposed biomimetic swimming mini-robots such as tadpole robot and jellyfish robot. The biomimetic swimming mini-robots could be driven by an external alternating magnet field using three pairs of Helmholtz coils. The swimming mini-robots consist of a buoyant robot body, permanent magnets, and fins. Especially, the tadpole mini-robot has a single fin which is directly linked to the permanent magnet and the jellyfish mini-robot has multiple fins which have a permanent magnet at the end of fin. The external alternating magnetic field from three pairs of Helmholtz coils could generate the propulsion and steering force of the tadpole mini-robot and the jellyfish mini-robot in 2- and 3-dimensional (-D) space. Firstly, we demonstrated the fabrications of the EMA coil system and the mini-robots. Secondly, we summarized the locomotive algorithms of the mini-robots using EMA. Thirdly, we setup the control system for the EMA driven mini-robots, which consists of EMA coils, dual cameras, controller, power amplifier, and conventional joystick. Through various experiments, we evaluated the locomotion algorithms the swimming mini-robots using EMA system. Finally, we demonstrated the performances of the swimming mini-robots in 2-D and 3-D space.
목차
Abstract
1. INTRODUCTION
2. EMA COIL SYSTEM
3. 2-D TADPOLE SWIMMING MINI-ROBOT
4. 3-D TADPOLE SWIMMING MINI-ROBOT
5. JELLYFISH SWIMMING MINI-ROBOT
6. CONCLUSION
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0