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Abstract: A
novel wireless tadpole-like micro robot with spiral-type head is
proposed. It imitates the swimming principle of tadpole to go forward
suspendedly. Also, along with the rotation of spiral head, the adhesion
traction is formed to drive the micro robot to go backward or adjust the
location. The film can prevent direct contact between the micro robot
and the pipelines. So it is non-invasive driving method. A branch system
of the image acquisition, wireless transmission and control is designed
to integrate with the driving system. All the designs of the physical
system of the micro robot are proved feasible and valid experimentally.
Key
words: Swimming
robot Tadpole-like Spiral-type Non-invasive
CLC No: TP242.2
国家自然科学基金资助项目(50375143).
Received 20040901, received in revised form 20050310
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