Permanent URL to this publication: http://dx.doi.org/10.5167/uzh-9419
Miyashita, S; Casanova, F; Lungarella, M; Pfeifer, R (2008). Tribolon: water based self-assembly robot with freezing connector (Video). In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, 22 September 2008 - 26 September 2008, 4147-4148.
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We present a novel type of inter-module connection mechanism for waterborne modular robotic systems. The proposed mechanism exploits the thermoelectric effect to cool down and freeze the water between two modules thus causes them to attach to each other. We validate the feasibility of this mechanism by embedding a Peltier heat pumps (m=0.8g) in a cm scale self-assembly system. Our experimental results demonstrate that the proposed Peltier-based connector has (a) a high bond strength/weight ratio for a rather large range of temperatures and (b) is rather robust against misalignments between docking modules, making it a useful alternative to current connection mechanisms for small scale low autonomy self-assembly systems.
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|Item Type:||Conference or Workshop Item (Speech), refereed, original work|
|Communities & Collections:||03 Faculty of Economics > Department of Informatics|
|Dewey Decimal Classification:||000 Computer science, knowledge & systems|
|Event End Date:||26 September 2008|
|Deposited On:||12 Jan 2009 16:11|
|Last Modified:||05 Apr 2016 12:47|
|Additional Information:||This paper was presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 22 - 26, 2008. © 2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
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