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DTAR—A Dynamic, Tube-Ascending Robot

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3 Author(s)
Degani, A. ; Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Choset, H. ; Mason, Matthew T.

This paper investigates a novel minimalistic mechanism that ascends tubes. The mechanism is comprised of only a rigid body, two O-rings, and a motor rotating an eccentric mass. We describe the underlying locomotion principle of rocking and jamming, without the use of special bristles or spines, and demonstrate the robustness of this mechanism.

Published in:

Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 2 )