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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.

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