Pub Date : 2018-07-04DOI: 10.1109/MARSS.2018.8481190
Li Yuan-dong, Wang Na-na
The orbital refueling in space can prolong the lifetime of spacecraft and reduce the cost of space applications. Therefore, it is an important direction for the development of space technology in the future. In this paper, a scheme using microsatellite to operate orbital refueling for the GEO spacecraft is designed. The process of rendezvous and refueling are emphatically described. In addition, the key technologies of microsatellite propulsion, control, observation are analyzed and prospected. At last, the commercial prospect of this scheme is analyzed.
{"title":"Implementation Scheme of Orbital Refueling Using Microsate IIite","authors":"Li Yuan-dong, Wang Na-na","doi":"10.1109/MARSS.2018.8481190","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481190","url":null,"abstract":"The orbital refueling in space can prolong the lifetime of spacecraft and reduce the cost of space applications. Therefore, it is an important direction for the development of space technology in the future. In this paper, a scheme using microsatellite to operate orbital refueling for the GEO spacecraft is designed. The process of rendezvous and refueling are emphatically described. In addition, the key technologies of microsatellite propulsion, control, observation are analyzed and prospected. At last, the commercial prospect of this scheme is analyzed.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117028313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-04DOI: 10.1109/MARSS.2018.8481172
A. Hsu, A. Wong-Foy, R. Pelrine
In this article, we study the use of ferrofluids for levitating magnetic micro/milli-robots. With the addition of a ferrofluid, the robots improved their weight-carrying ability (xI2, >12 grams) and precision (x2 ~5 um) without any associated increase in actuation power of the robot relative to sliding versions without the ferrofluid. To better understand the longterm stability of a ferrofluid on the micro/milli-robot, we perform motion cycle testing on two different surfaces (graphite and Teflon), ultimately achieving a motion repeatability and pose angular stability of 5 um and 0.05 °, close to the limits of our measurement setup. The underdamped motion of the ferrofluid robot showed a natural resonance of ~58–60 Hz. Through careful control of the evaporation of the ferrofluid, we show long-term stability of a ferrofluid micro/milli-robot over the course of >11 hours. While the performance of the robot does change due to evaporation of the particular ferrofluid used, we also show that robots can easily be replenished with new ferrofluid after mechanically cleaning away the remaining ferrofluid. Overall, the application of ferrofluids toward magnetically actuated micro/milli-robots can enable low-cost and high-precision motion for future high-precision micro-manipulation or positioning tasks.
{"title":"Ferrofluid Levitated Micro/Milli-Robots","authors":"A. Hsu, A. Wong-Foy, R. Pelrine","doi":"10.1109/MARSS.2018.8481172","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481172","url":null,"abstract":"In this article, we study the use of ferrofluids for levitating magnetic micro/milli-robots. With the addition of a ferrofluid, the robots improved their weight-carrying ability (xI2, >12 grams) and precision (x2 ~5 um) without any associated increase in actuation power of the robot relative to sliding versions without the ferrofluid. To better understand the longterm stability of a ferrofluid on the micro/milli-robot, we perform motion cycle testing on two different surfaces (graphite and Teflon), ultimately achieving a motion repeatability and pose angular stability of 5 um and 0.05 °, close to the limits of our measurement setup. The underdamped motion of the ferrofluid robot showed a natural resonance of ~58–60 Hz. Through careful control of the evaporation of the ferrofluid, we show long-term stability of a ferrofluid micro/milli-robot over the course of >11 hours. While the performance of the robot does change due to evaporation of the particular ferrofluid used, we also show that robots can easily be replenished with new ferrofluid after mechanically cleaning away the remaining ferrofluid. Overall, the application of ferrofluids toward magnetically actuated micro/milli-robots can enable low-cost and high-precision motion for future high-precision micro-manipulation or positioning tasks.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116592556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481157
Kento Hisa, M. Kakugawa, T. Shibata, M. Nagai
Gene expression affects the behavior of a cell. The roles of genes in behavior are still unclear. Measurement of both single cell motion and gene expression (amount of mRNA) are helpful to elucidate the relationship between gene expression and behavior. We have been developing a new device to measure both single-cell motility and gene expression. This measurement requires a fluid device composed of 100 chambers. To realize such a device, we selected a vacuum driven micropump and characterized a fluid driven system using vacuum. We provided support columns with a pump. The pump area was changed and its influence on a flow rate was investigated. This characterization is expected to lead to the establishment of the basic technology for large scale RNA-sequencing.
{"title":"Vacuum-Driven Micropump with Support Columns: Toward Large Scale Single-Cell RNA-Sequencing","authors":"Kento Hisa, M. Kakugawa, T. Shibata, M. Nagai","doi":"10.1109/MARSS.2018.8481157","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481157","url":null,"abstract":"Gene expression affects the behavior of a cell. The roles of genes in behavior are still unclear. Measurement of both single cell motion and gene expression (amount of mRNA) are helpful to elucidate the relationship between gene expression and behavior. We have been developing a new device to measure both single-cell motility and gene expression. This measurement requires a fluid device composed of 100 chambers. To realize such a device, we selected a vacuum driven micropump and characterized a fluid driven system using vacuum. We provided support columns with a pump. The pump area was changed and its influence on a flow rate was investigated. This characterization is expected to lead to the establishment of the basic technology for large scale RNA-sequencing.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115230750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481166
M. Shah, Sakshi Kokil Shah, Mitesh Shah
In an era of increasing environmental concern, oil pollution arising either from marine accidents or from routine ship operations (tanker loading and unloading, etc.) is a major threat for the marine environment. The average quantity of ship-generated oil that ends up in the sea exceeds 350,000 tonnes per year. When an oil spill occurs, either in open or confined sea, the ecological damage on the local ecosystem could be huge and irreversible. In view of the above, there is a pressing need for continuous refinement of the existing means and the development and implementation of new technologies with help of Robotics for oil spill combating. To minimize the adverse environmental effects of an oil spill, research should focus to devise technologies that are able to confront the oil, aiming at its actual removal when this is still floating at sea. This paper describe robotic unit of high-power autonomy that adsorb oil over water surface with the help of Nano-particle and are able to recover oil from Nano-material when placed in magnetic field. A prototype model of robot with constraint design of floating and assembly of different parts inside it has been made with the help of 3D printing for above investigation. The robots suck oily water separating clear water to the outside and creating a stream of oil in the center. Oil collected during the process is stored in box, which can later be removed by crew members to recycle in magnetic field. Towards these directions, in this paper we present a novel concept for effective oil spill confrontation which is based on autonomous robotic systems using nanotechnology-based techniques.
{"title":"Autonomous Robotic Vehicle for Oil Spills Cleaning with Nano Particles","authors":"M. Shah, Sakshi Kokil Shah, Mitesh Shah","doi":"10.1109/MARSS.2018.8481166","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481166","url":null,"abstract":"In an era of increasing environmental concern, oil pollution arising either from marine accidents or from routine ship operations (tanker loading and unloading, etc.) is a major threat for the marine environment. The average quantity of ship-generated oil that ends up in the sea exceeds 350,000 tonnes per year. When an oil spill occurs, either in open or confined sea, the ecological damage on the local ecosystem could be huge and irreversible. In view of the above, there is a pressing need for continuous refinement of the existing means and the development and implementation of new technologies with help of Robotics for oil spill combating. To minimize the adverse environmental effects of an oil spill, research should focus to devise technologies that are able to confront the oil, aiming at its actual removal when this is still floating at sea. This paper describe robotic unit of high-power autonomy that adsorb oil over water surface with the help of Nano-particle and are able to recover oil from Nano-material when placed in magnetic field. A prototype model of robot with constraint design of floating and assembly of different parts inside it has been made with the help of 3D printing for above investigation. The robots suck oily water separating clear water to the outside and creating a stream of oil in the center. Oil collected during the process is stored in box, which can later be removed by crew members to recycle in magnetic field. Towards these directions, in this paper we present a novel concept for effective oil spill confrontation which is based on autonomous robotic systems using nanotechnology-based techniques.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117190743","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481161
Yuzhao Zhang, Haibo Yu, Pan Li, Wenguang Yang, Junhui Law, Lianqing Liu, Gwo-Bin Lee, W. Li
The microenvironment for culturing of cells is important in tissue engineering and biomedical applications. Owing to their excellent biocompatibility, hydrogels are widely used to create microenvironments. One of the most useful hydrogels, gelatin methacryloyl (GeIMA), can be cured by ultraviolet (UV) light to form a polymer. However, the use of a photoinitiator in this process results in cellular toxicity. In this study, we developed a novel method to polymerize GelMA hydrogel into desired patterns based on the principle of optically induced electropolymerization. For this technique, the polymer films were electrodeposited by optical virtual electrodes at the surface of a photoconductive substrate, instead of real conductive metallic electrodes. The shapes of the virtual electrodes depend on digitally projected images. The thickness of the deposited films, ranging from nanometers to micrometers, is controlled by the duration of the applied AC voltage. In this paper, we discuss the parameters used during the optically induced electropolymerization process to realize several microstructures of GelMA hydrogel with different shapes and sizes.
{"title":"Non-UV Patterning of Gelatin Methacryloyl Hydrogel by Optically Induced Electropolymerization","authors":"Yuzhao Zhang, Haibo Yu, Pan Li, Wenguang Yang, Junhui Law, Lianqing Liu, Gwo-Bin Lee, W. Li","doi":"10.1109/MARSS.2018.8481161","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481161","url":null,"abstract":"The microenvironment for culturing of cells is important in tissue engineering and biomedical applications. Owing to their excellent biocompatibility, hydrogels are widely used to create microenvironments. One of the most useful hydrogels, gelatin methacryloyl (GeIMA), can be cured by ultraviolet (UV) light to form a polymer. However, the use of a photoinitiator in this process results in cellular toxicity. In this study, we developed a novel method to polymerize GelMA hydrogel into desired patterns based on the principle of optically induced electropolymerization. For this technique, the polymer films were electrodeposited by optical virtual electrodes at the surface of a photoconductive substrate, instead of real conductive metallic electrodes. The shapes of the virtual electrodes depend on digitally projected images. The thickness of the deposited films, ranging from nanometers to micrometers, is controlled by the duration of the applied AC voltage. In this paper, we discuss the parameters used during the optically induced electropolymerization process to realize several microstructures of GelMA hydrogel with different shapes and sizes.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"290 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122784669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a compliant mechanisms synthesis method using moving morphable components (MMC) topology optimization with a view of replacing de facto hinges by specific flexure hinge characteristic. The shape of a common used corner-filleted hinge is embed into the profile of quadratically varying thickness component. The geometric parameters of the hinge is treated as design variables, participate in the optimization process directly. To obtain relatively stable topological configurations in different spring stiffness, keynodes connectivity preservation is applied which can provide a forced connection between components and input, output and fixed ports. The validity of the method is demonstrated using numerical examples.
{"title":"Topology Optimization of Compliant Mechanisms Using Moving Morphable Components with Flexure Hinge Characteristic","authors":"Rixin Wang, Benliang Zhu, Xianmin Zhang, Hongchuan Zhang, Qi Chen","doi":"10.1109/MARSS.2018.8481175","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481175","url":null,"abstract":"This paper presents a compliant mechanisms synthesis method using moving morphable components (MMC) topology optimization with a view of replacing de facto hinges by specific flexure hinge characteristic. The shape of a common used corner-filleted hinge is embed into the profile of quadratically varying thickness component. The geometric parameters of the hinge is treated as design variables, participate in the optimization process directly. To obtain relatively stable topological configurations in different spring stiffness, keynodes connectivity preservation is applied which can provide a forced connection between components and input, output and fixed ports. The validity of the method is demonstrated using numerical examples.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126356820","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481170
A. A. Demircali, Cesur Atay Yilmaz, Husevin Uvet
In this work, open-loop and closed-loop lateral movement control of a microrobot in a liquid environment(DI-water) is presented. During the lateral movement of a diamagnetically levitated microrobot, the drag force caused by the fluid interaction must be minimized in order to increase the precision of localization. The magnitude of the drag force varies depending on the speed of the microrobot and its hydrodynamic structure. A new control technique has been developed and implemented to minimize the friction force to make the lateral movement more stable. Control techniques are accomplished with the help of a single ring-shaped neodymium magnet “lifter magnet $pmb{(40 text{mm}} pmb{text{x} 20 text{mm x} 8 text{mm}})$” with a lower magnetic force requirement. For positioning the lifter magnet, microstages capable of nano-precise motion in x, y and z axes are used. Another disk-shaped magnet is used in the center of the microbobot which is called a “carrier magnet”. With the developed vision based control mechanisms, the inability to move parallel to the surface of the microrobot “head tilting reaction angle” is reduced. As a result of an analysis with FEM program (COMSOL®), the open loop and closed loop angle equations related to stage speed and orbit distance are obtained by taking into consideration the mechanical delays. With these equations used in open and closed loop control, the head-tilting angle at low speeds (<2 mm/s) is reduced to 1°and at higher speeds(>2 mm/s) to 3.22°for open-loop control and 1.926°with closed loop control.
{"title":"Control of Head-Tilting Angle of the Diamagnetically Levitated Microrobot in Liquid Media","authors":"A. A. Demircali, Cesur Atay Yilmaz, Husevin Uvet","doi":"10.1109/MARSS.2018.8481170","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481170","url":null,"abstract":"In this work, open-loop and closed-loop lateral movement control of a microrobot in a liquid environment(DI-water) is presented. During the lateral movement of a diamagnetically levitated microrobot, the drag force caused by the fluid interaction must be minimized in order to increase the precision of localization. The magnitude of the drag force varies depending on the speed of the microrobot and its hydrodynamic structure. A new control technique has been developed and implemented to minimize the friction force to make the lateral movement more stable. Control techniques are accomplished with the help of a single ring-shaped neodymium magnet “lifter magnet $pmb{(40 text{mm}} pmb{text{x} 20 text{mm x} 8 text{mm}})$” with a lower magnetic force requirement. For positioning the lifter magnet, microstages capable of nano-precise motion in x, y and z axes are used. Another disk-shaped magnet is used in the center of the microbobot which is called a “carrier magnet”. With the developed vision based control mechanisms, the inability to move parallel to the surface of the microrobot “head tilting reaction angle” is reduced. As a result of an analysis with FEM program (COMSOL®), the open loop and closed loop angle equations related to stage speed and orbit distance are obtained by taking into consideration the mechanical delays. With these equations used in open and closed loop control, the head-tilting angle at low speeds (<2 mm/s) is reduced to 1°and at higher speeds(>2 mm/s) to 3.22°for open-loop control and 1.926°with closed loop control.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125987750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481200
S. Mishra, C. S. Kumar
In this paper, a novel compliant model of Stewart platform is designed and analyzed. The literature shows that there is a need for micromanipulators having 6-DOF with high range of motions and low parasitic motion. A novel design for Stewart platform is developed for micromanipulation applications. The inverse kinematics with the help of pseudo-rigid-body model (PRB model) of the micromanipulator is formulated and solved. FEA simulations are carried out to know the 6-DOF motion capability of the micromanipulator. In the end, the dynamic performance of the FE model of the micromanipulator is presented.
{"title":"Design and Kinematics of a Compliant Stewart Micromanipulator","authors":"S. Mishra, C. S. Kumar","doi":"10.1109/MARSS.2018.8481200","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481200","url":null,"abstract":"In this paper, a novel compliant model of Stewart platform is designed and analyzed. The literature shows that there is a need for micromanipulators having 6-DOF with high range of motions and low parasitic motion. A novel design for Stewart platform is developed for micromanipulation applications. The inverse kinematics with the help of pseudo-rigid-body model (PRB model) of the micromanipulator is formulated and solved. FEA simulations are carried out to know the 6-DOF motion capability of the micromanipulator. In the end, the dynamic performance of the FE model of the micromanipulator is presented.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131385397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481167
Jinhong Qu, Clark B. Teeple, Buyi Zhang, K. Oldham
This paper discusses the steering of a miniature, vibratory walking robot taking advantage of the robot's structural non-uniformity. Non-uniformity from fabrication and assembly can be detrimental to performance of miniature robots, but its potential for modifying robot locomotion is discussed in this work. A 3-centimeter-wide piezoelectric robot is described for the study of steering opportunities. This includes turning behavior that occurs away from resonance due to leg asymmetries and shuffling behavior caused by lateral motion of the actuators. Finite Element Analysis and beam theory are used to explain the resonances of the designed structure. The parameter variances are studied and experimentally validated, to illustrate the variability of locomotion effects emerging across the robot legs. Further explanation of the robot dynamics helps to determine possible mechanisms for steering, with rotational turning motion around resonance explainable with a previous dynamic model, and some candidate explanations for shuffling examined. The motion of the robot is recorded within the frequency range of 1.2 to 4.6 kHz, within which both turning and shuffling are observed in addition to longitudinal motion.
{"title":"Passive Steering of Miniature Walking Robot Using the Non-Uniformity of Robot Structure","authors":"Jinhong Qu, Clark B. Teeple, Buyi Zhang, K. Oldham","doi":"10.1109/MARSS.2018.8481167","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481167","url":null,"abstract":"This paper discusses the steering of a miniature, vibratory walking robot taking advantage of the robot's structural non-uniformity. Non-uniformity from fabrication and assembly can be detrimental to performance of miniature robots, but its potential for modifying robot locomotion is discussed in this work. A 3-centimeter-wide piezoelectric robot is described for the study of steering opportunities. This includes turning behavior that occurs away from resonance due to leg asymmetries and shuffling behavior caused by lateral motion of the actuators. Finite Element Analysis and beam theory are used to explain the resonances of the designed structure. The parameter variances are studied and experimentally validated, to illustrate the variability of locomotion effects emerging across the robot legs. Further explanation of the robot dynamics helps to determine possible mechanisms for steering, with rotational turning motion around resonance explainable with a previous dynamic model, and some candidate explanations for shuffling examined. The motion of the robot is recorded within the frequency range of 1.2 to 4.6 kHz, within which both turning and shuffling are observed in addition to longitudinal motion.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130127710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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