Octahedral Robotics for Accessing Complex Cavities and Narrow Spaces
The goal of this project is to explore the potential of different
octahedral robotic platforms for accessing different types of cavities,
narrow spaces and pipes. So far we have constructed three real
prototypes and one simulated version of the robot.
Figure 1 shows the real robots. OctaWorm-HYD is a simple hydraulic
prototype constructed with inexpensive syringes. OctaWorm-ELEC is the
electric version of the robot that uses Dynamixel AX12 servo motors.
OctaWorm-PN is the pneumatic version of the robot constructed with pneumatic linear actuators.
The robot is able to negotiate complex in-pipe structures
such as T-joints. The locomotion capabilities were tested in different real scenarios (see videos). We
expect this type of machine might have future
applications in medicine since the platform is able to anchor on the
interior of soft cavities. Perhaps in the future, small OctaWorm robots
might be able to travel inside blood vessels.
Figure 1: a) OctaWorm-HYD a hydraulic
prototype. b) OctaWorm-ELEC is the
electric version. c) OctaWorm-PN is the pneumatic version of the robot.
Figure2: Example of natural deformation modes of the robot explored under simulation.
J.C. Zagal, C. Armstrong,, S. Li., "Deformable Octahedron
Burrowing Robot", ALIFE XIII: Proceedings of the Thirteenth
International Conference on the Simulation and Synthesis of Living