The Inchworm Robot: A Multi-Functional System

We wish for robots to manipulate objects and move flexibly in three-dimensional spaces. We describe a robot that can move on a web of surfaces oriented around arbitrary directions in three-space and a set of control algorithms that implements motion in three-dimensions. The robot can manipulate objects in three dimensions while moving, by using the same set of physical resources and control algorithms. This robot is an inchworm-like robot with a simple, modular, and flexible design. Finally, we discuss our experiments.

• Type: Journal
• Year: 2000
• Where: AROBOTS
• Authors: Keith Kotay, Daniela Rus
• Keywords: Arbitrary Directions, AROBOTS 2000, Robot, Three-dimensional Spaces