Development of a planar BBot using a single vibration motor

Dila Turkmen; Merve Acer

doi:10.1109/ICAT.2017.8171612

Development of a planar BBot using a single vibration motor

Dila Turkmen, Merve Acer

Department of Mechanical Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

There are BBots (BristleBots) consist of a single and double vibration motor design. A single-actuated robot agent is more preferable due to its lower cost and energy consumption. Some studies reporting and modeling the linear motion single-actuated BBots are present in the literature. On the other hand, few of them included an explanation on its rotational motion. In this study, the planar motion of a novel single-actuated BBot design, composed of three bristle legs is analyzed. The BBot performs CW (clockwise) motion under a transition frequency (f_tr), forward locomotion at f_tr and CCW (counterclockwise) motion over it. The mechanism behind this novel observation is inspected experimentally and results are reported. Proposed design performed a path following task with an open loop control.

Original language	English
Title of host publication	ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538633373
DOIs	https://doi.org/10.1109/ICAT.2017.8171612
Publication status	Published - 8 Dec 2017
Event	26th International Conference on Information, Communication and Automation Technologies, ICAT 2017 - Sarajevo, Bosnia and Herzegovina Duration: 26 Oct 2017 → 28 Oct 2017

Publication series

Name	ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings
Volume	2017-December

Conference

Conference	26th International Conference on Information, Communication and Automation Technologies, ICAT 2017
Country/Territory	Bosnia and Herzegovina
City	Sarajevo
Period	26/10/17 → 28/10/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

BristleBots
Mobile Robotics
Soft Robotics
Swarm Robotics
Vibration Driven Locomotion

Access to Document

10.1109/ICAT.2017.8171612

Cite this

Turkmen, D., & Acer, M. (2017). Development of a planar BBot using a single vibration motor. In ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings (pp. 1-6). (ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings; Vol. 2017-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAT.2017.8171612

Turkmen, Dila ; Acer, Merve. / Development of a planar BBot using a single vibration motor. ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-6 (ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings).

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title = "Development of a planar BBot using a single vibration motor",

abstract = "There are BBots (BristleBots) consist of a single and double vibration motor design. A single-actuated robot agent is more preferable due to its lower cost and energy consumption. Some studies reporting and modeling the linear motion single-actuated BBots are present in the literature. On the other hand, few of them included an explanation on its rotational motion. In this study, the planar motion of a novel single-actuated BBot design, composed of three bristle legs is analyzed. The BBot performs CW (clockwise) motion under a transition frequency (ftr), forward locomotion at ftr and CCW (counterclockwise) motion over it. The mechanism behind this novel observation is inspected experimentally and results are reported. Proposed design performed a path following task with an open loop control.",

keywords = "BristleBots, Mobile Robotics, Soft Robotics, Swarm Robotics, Vibration Driven Locomotion",

author = "Dila Turkmen and Merve Acer",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 26th International Conference on Information, Communication and Automation Technologies, ICAT 2017 ; Conference date: 26-10-2017 Through 28-10-2017",

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Turkmen, D & Acer, M 2017, Development of a planar BBot using a single vibration motor. in ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings. ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings, vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 26th International Conference on Information, Communication and Automation Technologies, ICAT 2017, Sarajevo, Bosnia and Herzegovina, 26/10/17. https://doi.org/10.1109/ICAT.2017.8171612

Development of a planar BBot using a single vibration motor. / Turkmen, Dila; Acer, Merve.
ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-6 (ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings; Vol. 2017-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - There are BBots (BristleBots) consist of a single and double vibration motor design. A single-actuated robot agent is more preferable due to its lower cost and energy consumption. Some studies reporting and modeling the linear motion single-actuated BBots are present in the literature. On the other hand, few of them included an explanation on its rotational motion. In this study, the planar motion of a novel single-actuated BBot design, composed of three bristle legs is analyzed. The BBot performs CW (clockwise) motion under a transition frequency (ftr), forward locomotion at ftr and CCW (counterclockwise) motion over it. The mechanism behind this novel observation is inspected experimentally and results are reported. Proposed design performed a path following task with an open loop control.

AB - There are BBots (BristleBots) consist of a single and double vibration motor design. A single-actuated robot agent is more preferable due to its lower cost and energy consumption. Some studies reporting and modeling the linear motion single-actuated BBots are present in the literature. On the other hand, few of them included an explanation on its rotational motion. In this study, the planar motion of a novel single-actuated BBot design, composed of three bristle legs is analyzed. The BBot performs CW (clockwise) motion under a transition frequency (ftr), forward locomotion at ftr and CCW (counterclockwise) motion over it. The mechanism behind this novel observation is inspected experimentally and results are reported. Proposed design performed a path following task with an open loop control.

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Turkmen D, Acer M. Development of a planar BBot using a single vibration motor. In ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-6. (ICAT 2017 - 26th International Conference on Information, Communication and Automation Technologies, Proceedings). doi: 10.1109/ICAT.2017.8171612

Development of a planar BBot using a single vibration motor

Abstract

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Bibliographical note

Keywords

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