A contribution to the amoeboid locomotion of mobile robots

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 6Language: englishTyp: PDF

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Zimmermann, Klaus; Böhm, Valter (Ilmenau University of Technology, Faculty of Mechanical Engineering, PF 100565, 98684, Ilmenau, Germany)

The paper deals with amoeboid locomotion from the mechanical point of view. This original kind of locomotion, realized by protozoa, is of great interest for engineers. It offers the possibility to combine the function of locomotion and manipulation for systems operating in difficult terrains. In this contribution the constructive characteristics and basic properties of the two mobile systems, based on compliant elements, are considered. The theoretical investigations are focused on the description of the dynamic system behaviour by transient analysis. The characteristics of the prototypes obtained by theoretical investigations using Finite-Element-Method and Multibody Systems Dynamics, are compared with experimental results.