Quick Search:

uzh logo
Browse by:

Zurich Open Repository and Archive

Maintenance: Tuesday, July the 26th 2016, 07:00-10:00

ZORA's new graphical user interface will be relaunched (For further infos watch out slideshow ZORA: Neues Look & Feel). There will be short interrupts on ZORA Service between 07:00am and 10:00 am. Please be patient.

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.

PDF (Original publication)
View at publisher


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.




184 downloads since deposited on 12 Jan 2009
17 downloads since 12 months

Detailed statistics

Additional indexing

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.
Publisher DOI:10.1109/IROS.2008.4651233
Official URL:http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4651233
Related URLs:http://www.ifi.uzh.ch/pax/web/index.php/publication/show/id/897

Users (please log in): suggest update or correction for this item

Repository Staff Only: item control page