A Study of Seismic Robot Actuation Using COMSOL Multiphysics

Abstract

This project explores seismic actuation using a global vibration field as a means to communicate with and power mesoscale crawling robots. Structures within the robots cause them to respond to particular frequencies with different motion modalities. The robots are steered by controlling the frequencies present in the vibration field. COMSOL Multiphysics was used to investigate the dynamics of motion of the robots. Good matching was observed between experiment and the model when the boundary conditions were set to allow for rocking.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 2010
Accession Number
ADA577032

Entities

People

  • Elizabeth A. Leckie
  • Jenelle A. Piepmeier
  • John A. Burkhardt
  • Samara L. Firebaugh

Organizations

  • United States Naval Academy

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Bodies
  • Boundaries
  • Dynamics
  • Equations
  • Fabrication
  • Frequency
  • Geometry
  • High Speed Cameras
  • Models
  • Physics
  • Resonance
  • Resonant Frequency
  • Robots
  • Software Prototyping
  • United States
  • United States Naval Academy
  • Vibration

Readers

  • Computational Fluid Dynamics (CFD)
  • Robotics and Automation.
  • Structural Dynamics.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy