The Inchworm Robot: A Multi-Functional System |
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| Authors: | Keith Kotay Daniela Rus |
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| Affiliation: | (1) Department of Computer Science, Dartmouth, Dartmouth Robotics Laboratory, Hanover, NH, 03755;(2) Department of Computer Science, Dartmouth, Dartmouth Robotics Laboratory, Hanover, NH, 03755 |
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| Abstract: | We wish for robots to manipulate objects and move flexibly in three-dimensional spaces. We describe a robot that can move on a web of surfaces oriented around arbitrary directions in three-space and a set of control algorithms that implements motion in three-dimensions. The robot can manipulate objects in three dimensions while moving, by using the same set of physical resources and control algorithms. This robot is an inchworm-like robot with a simple, modular, and flexible design. Finally, we discuss our experiments. |
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| Keywords: | inchworm robot three-dimensional navigation three-dimensional manipulation minimalism |
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