Ioannis (Yiannis) Georgilas

>        Home      .Home.html

>     Research   .

>   Publications.Publications.html



The development of a parallel manipulator as a massive array of simple individual actuators with a small power density that collectively transport and position objects with masses considerably higher than the force generated by a single actuator alone.

This design is inspired by the biological phenomena of cilia, small hair-like structures on the surface of cells which can either sense local properties such as in the rod photoreceptors for vision or in olfactory neurons for smell, or can move in coordinated wave action to move liquid over their surface, as in the trachea and kidneys.

Employing these capabilities in an analogous array of micro-actuators will produce a conveyor of parallel intelligent manipulation able to sense object properties, move them in different directions and effectively sort objects according to their properties.

The development of a novel serpentine type manipulator inspired by the shape and operation of spinal column in vertebrate animals. The resulted system was called ERMIS signifying flexibility.

For the mechanical structure of the robot a novel Disk-Ball-Disk joint replicates the vertebrae - inter-vertebrae disk structure found in the biological spine. This design provide robustness of body and protection for sensitive information paths. For articulation, nature implements muscles and tendons arranged on the vertebrae and by contraction and extension bend the spinal column in the desire direction. In ERMIS, the actuation forces were applied by tendons arranged in the circumference of the disks.

The motivation behind this project was the remarkable adaptability hyper-redundant biological systems exhibit. These systems evolve to perform optimally in conditions characterised by uncertainty and constant change of environment parameters.

Project’s Page at BRL Website