InchBot: A novel swarm microrobotic platform Conference Paper

abstract

• Collective behavior in swarm robotics explores various scenarios involving many robots communicating, sensing, and running simultaneously. This strategy aims to reduce the time and energy required and to improve the efficiency of completing complex tasks which are typically difficult to accomplish individually. This paper presents InchBot, a novel swarm microrobotic platform, which is highly modular, rechargeable, and capable of sensing and communicating with each other wirelessly. InchBot features a new stackable hardware structure allowing customization in the embedded sensors and a novel flexible wheel design suitable for omnidirectional motions. A detailed analysis on the deformation characteristics of the flexible spoke wheels due to centrifugal force was performed using the finite element method. Preliminary experiments demonstrated the utility of flexible spoke wheels for generating forward, diagonal, and turning motions.

name of conference

• 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

authors

• Lee, Kiju

published proceedings

• 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

author list (cited authors)

• Jeong, D., & Lee, K.

citation count

• 2

complete list of authors

• Jeong, Donghwa||Lee, Kiju

publication date

• November 2013

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems  Journal

keywords

• 7 Affordable And Clean Energy

Digital Object Identifier (DOI)

• 10.1109/iros.2013.6697163

start page

• 5565

end page

• 5570

URL

• http://dx.doi.org/10.1109/iros.2013.6697163

user-defined tag

• 7 Affordable and Clean Energy