DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 유지환 | - |
dc.contributor.author | Seo, Dongoh | - |
dc.contributor.author | 서동오 | - |
dc.date.accessioned | 2024-07-25T19:30:52Z | - |
dc.date.available | 2024-07-25T19:30:52Z | - |
dc.date.issued | 2023 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1045754&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/320566 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2023.8,[iii, 38 p. :] | - |
dc.description.abstract | In this paper, we propose an inflatable structure-based working channel securing mechanism for soft growing robots. The proposed mechanism offers a solution for securing a stable and accessible working channel inside the robot while preserving the unique advantages of soft growing robots. The ability to create a secure working channel while the robot grows offers significant advantages in scenarios where the transfer of materials and tools is critical. It allows the robot to adapt and replace equipment based on specific work requirements, facilitating the performance of complex and diverse tasks. This capability enhances the robot's versatility and efficiency in various applications. The design of the soft growing robot incorporates an inflatable structure that expands as the robot grows, simultaneously forming a secure working channel. Prototyping and experimental validation were conducted to assess the robot's performance and capabilities. The results of the experiments demonstrated that the soft growing robot effectively secured the working channel, enabling the transfer of materials and tools without interference from the inflation pressure. The stability of the secured channel was validated through pipe pulling experiments. The growing demonstration confirmed the robot's ability to secure a working channel during its growth, while the steering demonstration showcased its inherent direction change steering function. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 유연 성장형 로봇▼a팽창식 구조▼a작업 통로▼a통로 확보 | - |
dc.subject | Soft growing robot▼aInflatable structure▼aWorking channel▼aChannel Securing | - |
dc.title | Inflatable structure-based working channel securing mechanism for soft growing robots | - |
dc.title.alternative | 유연 성장형 로봇을 위한 팽창식 구조 기반 작업 통로 확보 메커니즘 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :로봇공학학제전공, | - |
dc.contributor.alternativeauthor | Ryu, Jee-Hwan | - |
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