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Development of a Low-Cost Quadrupedal Starﬁsh Soft Robot

(Conference Paper)

, , ,

Mechanical Engineering Department, Diponegoro Univeristy, Semarang, Indonesia

Abstract

In this paper, a low-cost soft quadrupedal starfish soft robot will be developed. The proposed soft robot's body has a shape with X configuration. The soft legs of the robot's material utilizes silicon rubber that has been available on the market especially in online store. While, poly lactic acid (PLA) is used as the material of robot's body. The soft leg of the robot employs tendon-based mechanism. Micro servomotors are selected for the actuation system. The electrical components must be lightweight enough in order to the robot can carry the load. Undulating gait was developed and implemented on the soft robots to move the soft legs in sequence and create a wave of motion that moves the entire robot body. The gait cycle equation is obtained using Fourier series. Based on the test result, the proposed starfish soft robot can walks in straightforward direction using undulating gait cycle. © 2018 IEEE.

SciVal Topic Prominence

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Prominence percentile: 99.693

Author keywords

low-cost quadrupedal soft robot starﬁsh

Indexed keywords

Engineering controlled terms:

Costs Fourier series Lactic acid

Engineering uncontrolled terms

Actuation systems Electrical components Low costs Poly lactic acid quadrupedal Silicon rubbers Soft robot starﬁsh

Engineering main heading:

Robots

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Proceedings - 2018 5th International Conference on Information Technology, Computer and Electrical Engineering, ICITACEE 2018

13 December 2018, Article number 8576931, Pages 225-229

5th International Conference on Information Technology, Computer and Electrical Engineering, ICITACEE 2018; Semarang; Indonesia; 26 September 2018 through 28 September 2018; Category numberCFP1889Z-PRT; Code 143726

Munadi, M.  Ariyanto, M.  Setiawan, J.D.  Ayubi, M.F.A. 

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Robots | Robotics | Continuum robots

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(2018) ISSIMM 2018 - 3rd International Seminar on Sensors, Instrumentation, Measurement and Metrology, Proceeding

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References (8) Funding details

Funding text

work is supported by Diponegoro university fund under International Publication Research

Iida, F., Laschi, C.

(Open Access) (2011) Procedia Computer Science, 7, pp. 99-102. . doi: 10.1016/j.procs.2011.12.030

Rus, D., Tolley, M.T.

(2015) Nature, 521 (7553), pp. 467-475. . doi: 10.1038/nature14543

Shepherd, R.F., Ilievski, F., Choi, W., Morin, S.A., Stokes, A.A., Mazzeo, A.D., Chen, X., (...), Whitesides, G.M.

(Open Access)

(2011) Proceedings of the National Academy of Sciences of the United States of America, 108 (51), pp. 20400-

20403. .

doi: 10.1073/pnas.1116564108

Poungrat, A., Maneewarn, T.

(2018) 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, 2018-January, pp. 1-

6. .

ISBN: 978-153863741-8

doi: 10.1109/ROBIO.2017.8324501 ISBN: 978-153865527-6

Source Type: Conference Proceeding Original language: English

DOI: 10.1109/ICITACEE.2018.8576931 Document Type: Conference Paper

Volume Editors: Facta M.,Riyadi M.A.,Arfan M.,Widianto E.D.

Publisher: Institute of Electrical and Electronics Engineers Inc.

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1

Soft robotics: Challenges and perspectives

Cited 80 times http://www.sciencedirect.com/science/journal/18770509

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2

Design, fabrication and control of soft robots

Cited 1433 times http://www.nature.com/nature/index.html

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3

Multigait soft robot

Cited 950 times

http://www.pnas.org/content/108/51/20400.full.pdf+html

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4

A starﬁsh inspired robot with multi-directional tube feet locomotion

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, ,

(2018) Proceedings of the International Conference on Progress in Additive Manufacturing

, , (2017) Proceedings - IEEE International Conference on Robotics and Automation

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Drotman, D., Jadhav, S., Karimi, M., Dezonia, P., Tolley, M.T.

(2017) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 7989652, pp. 5532-

5538. .

ISBN: 978-150904633-1 doi: 10.1109/ICRA.2017.7989652

Mao, S., Dong, E., Jin, H., Xu, M., Zhang, S., Yang, J., Low, K.H.

(2014) Journal of Bionic Engineering, 11 (3), pp. 400-411. . doi: 10.1016/S1672-6529(14)60053-6

Jin, H., Dong, E., Alici, G., Mao, S., Min, X., Liu, C., Low, K.H., (...), Yang, J.

(2016) Bioinspiration and Biomimetics, 11 (5), art. no. 056012. . doi: 10.1088/1748-3190/11/5/056012

Mao, S., Dong, E., Xu, M., Jin, H., Li, F., Yang, J.

(2013) 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, art. no. 6739441, pp.

91-96. .

doi: 10.1109/ROBIO.2013.6739441

5

3D printed soft actuators for a legged robot capable of navigating unstructured terrain

Cited 50 times

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6

Gait study and pattern generation of a starﬁsh-like soft robot with ﬂexible rays actuated by SMAs

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A starﬁsh robot based on soft and smart modular structure (SMS) actuated by SMA wires

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8

Design and development of starﬁsh-like robot: Soft bionic platform with multi-motion using SMA actuators

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ICITACEE

2018

PROCEEDINGS

GREEN TECHNOLOGY AND SMART ENVIRONMENT

FOR A CONNECTED WORLD

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Proceedings

2018 5th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE 2018)

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9/2/2019 The 2018 5th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

icitacee.undip.ac.id/index.php/icitacee/2018 1/2

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Home > International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE) > The 2018 5th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

The 2018 5th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

HOTEL SANTIKA PREMIERE, SEMARANG - INDONESIA September 26, 2018 – September 28, 2018

The conference entitled "The 2018 5^th International Conference on Information Technology, Computer, and Electrical Engineering (ICITACEE 2018)" provides a forum for researchers, academicians, professionals, and students from various engineering fields and with cross- disciplinary working or interested in the development and design of information technology, computer system, and electrical engineering to interact and disseminate the latest issues and researches. It also offers opportunity to enjoy the heritage and the beauty of Semarang.

ICITACEE is an annual conference organized between Electrical Engineering Department and Computer Engineering Department and in 2018 this conference will be organized by Electrical Engineering Department.

The theme of ICITACEE 2018 is "Green Technology and Smart Environment for a Connected World". The conference covers the topics but not limited to information technology, information systems, power systems, signal processing, electronics, micro-electronics, biomedical engineering, and communication systems as well as other field that corresponds, such as intelligent systems, intelligent transportation applications, health care applications, and environmental protection. ICITACEE 2018 invites the scholars and encourages the researchers to submit high quality manuscripts and papers to this conference.

The papers accepted and presented will be forwarding for consideration to be published in the IEEE Xplore Digital Library.

The scope of ICITACEE 2018 submission are:

Power Systems

Power Generation, Power Distribution, Power Conversion, Protection Systems, Electric Motor and Drives, Power Electronics, High Voltage, Insulation Technology, Lightning Phenomenon.

Telecommunications and Vehicular Technologies

Network Protocol and Management, Meta Material, Telecommunication System, Wireless and Mobile Communication, Sensor Networks, Sensor Fusion, Power Efficient Telecommunication Systems, Wireless Ad-hoc and Sensor Networks, Cognitive Radio, Cooperative

Communications, Radio Resource Management and Optimization, Vehicular Communication Systems, Information Theory and Coding Systems, Machine-to-Machine (M2M)

Communications.

Control and Circuits

Digital Signal Processing Algorithm, Biomedical Engineering, Control Systems, Robot and Mobile Robot, Speech & Audio Processing, Image Processing, Embedded System, Microelectronics

Information and Computer Technologies

Software Engineering, Data Mining, Multimedia Technology, Mobile Computing, Parallel Computing, Artificial Intelligence, Visualization and Computer Graphic, Computer Vision, Augmented/Virtual Reality, Conceptual models of information systems, Data warehousing,

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9/2/2019 The 2018 5th International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

icitacee.undip.ac.id/index.php/icitacee/2018 2/2

Data Mining for Business Intelligence, Database Management, Information systems governance.

Green Applications and Interdisciplinary Topic

Green Applications in Transportation, Smart Building, Smart House, Smart Campus, and Smart City, Biomedical Image Processing, Biomedical Instrumentation

Keynote Speakers

Three distinguish Professors will share the latest information of Information Technology, Electrical and Computer Engineering in the plenary discussion as the key note speakers:

Prof.Dr.Ir. Mauridhi Hery Purnomo M.Eng. (Institut Teknologi Sepuluh Nopember).

Prof.Dr. Ir. Fitri Yuli Zulkifli, ST., M.Sc (Universitas Indonesia).

Assoc. Prof. Dr. Razali Ngah (Universiti Teknologi Malaysia).

Announcements

ICITACEE 2018 on IEEE Xplore and Scopus

Kindly accept our congratulations for having your published paper of ICITACEE 2018 is recently indexed in IEEE Xplore and Scopus.

Posted: 2018-12-17 More...

ICITACEE 2017 on IEEE Xplore

Kindly accept our congratulations for having your published paper of ICITACEE 2017 is recently indexed in IEEE Xplore.

(http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8240802)

Posted: 2018-01-21 More...

Final Manuscript

Posted: 2017-02-24 More...

More Announcements...

Supported by:

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CoChair : ȋȌ Secretary : Ǥ

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IEEE Catalog Number:

ISBN:

CFP1889Z-POD 978-1-5386-5530-6

2018 5th International Conference on Information Technology,

Computer, and Electrical

Engineering (ICITACEE 2018)

Semarang, Indonesia

27 – 28 September 2018

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Copyright © 2018 by the Institute of Electrical and Electronics Engineers, Inc.

All Rights Reserved

Copyright and Reprint Permissions: Abstracting is permitted with credit to the source.

Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923.

For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Service Center, 445 Hoes Lane, Piscataway, NJ 08854. All rights reserved.

* This is a print representation of what appears in the IEEE Digital Library. Some format issues inherent in the e-media version may also appear in this print version.**

IEEE Catalog Number: CFP1889Z-POD ISBN (Print-On-Demand): 978-1-5386-5530-6

ISBN (Online): 978-1-5386-5529-0

Additional Copies of This Publication Are Available From:

Curran Associates, Inc 57 Morehouse Lane

Red Hook, NY 12571 USA Phone: (845) 758-0400 Fax: (845) 758-2633

E-mail: curran@proceedings.com

Web: www.proceedings.com

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(22)

5/3/2020 Development of a Low-Cost Quadrupedal Starfish Soft Robot - IEEE Conference Publication

https://ieeexplore.ieee.org/document/8576931/authors#authors 1/2

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4Author(s) M. Munadi ; Mochammad Ariyanto ; Joga D. Setiawan ; M. Fikri Al Ayubi View All Authors

Development of a Low-Cost Quadrupedal Starfish Soft Robot

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Abstract Document Sections I. Introduction II. Quadrupedal

Starfish Soft Robot Design and Manufacture III. Quadrupedal

Starfish Soft Robot System IV. Result and

Discussion V. Conclusion

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Abstract: In this paper, a low-cost soft quadrupedal starfish soft robot will be developed. The proposed soft robot's body has a shape with X configuration. The soft legs of the ro... View more

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Published in: 2018 5th International Conference on Information Technology, Computer, and Electrical Engineering (ICITACEE)

Abstract:

In this paper, a low-cost soft quadrupedal starfish soft robot will be developed. The proposed soft robot's body has a shape with X configuration. The soft legs of the robot's material utilizes silicon rubber that has been available on the market especially in online store. While, poly lactic acid (PLA) is used as the material of robot's body. The soft leg of the robot employs tendon-based mechanism. Micro servomotors are selected for the actuation system. The electrical components must be lightweight enough in order to the robot can carry the load. Undulating gait was developed and implemented on the soft robots to move the soft legs in sequence and create a wave of motion that moves the entire robot body. The gait cycle equation is obtained using Fourier series. Based on the test result, the proposed starfish soft robot can walks in straightforward direction using undulating gait cycle.

Date of Conference: 27-28 Sept. 2018 Date Added to IEEE Xplore: 17 December 2018

ISBN Information:

INSPEC Accession Number: 18311571 DOI: 10.1109/ICITACEE.2018.8576931 Publisher: IEEE

Conference Location: Semarang, Indonesia

M. Munadi

Mechanical Engineering Department, Diponegoro Univeristy, Semarang, Indonesia Mochammad Ariyanto

Mechanical Engineering Department, Diponegoro Univeristy, Semarang, Indonesia Joga D. Setiawan

Mechanical Engineering Department, Diponegoro Univeristy, Semarang, Indonesia M. Fikri Al Ayubi

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Published: 2006

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Published: 2009

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5/3/2020 Development of a Low-Cost Quadrupedal Starfish Soft Robot - IEEE Conference Publication

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I. Introduction

Robot technology is growing rapidly, including materials or materials for making robots. Most robots use rigid materials such as iron, aluminum, plastic and so on. When illustrating robots that resemble biological creatures, rigid components are very difficult to implement. The constituent materials used for the robot have at least soft, elastic and flexible properties [1]. It aims to enable robots to survive in complex and unpredictable environmental conditions. An example is an animal, its body part consists of soft skin, hair, elastic tendon muscles and various organs of the body all of which have soft texture.

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Mochammad Ariyanto

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M. Fikri Al Ayubi

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4/22/2020 Performance of 8FSK base on PACTOR I protocol over AWGN channels - IEEE Conference Publication

3Author(s) Mohd Yazid Ab Razak ; Nasharuddin Zainal ; Abd Rahim Mat Sidek View All Authors

Performance of 8FSK base on PACTOR I protocol over AWGN channels

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Abstract: This paper presents the performance of 8FSK base on PACTOR I data transfer protocol over AWGN channel. PACTOR I is a classic digital mode that once gain name in radio ama... View more

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This paper presents the performance of 8FSK base on PACTOR I data transfer protocol over AWGN channel. PACTOR I is a classic digital mode that once gain name in radio amateur community due to the reliability. The modulation type is always 2FSK and still been use in the latest advance modem of PACTOR 4 for robust mode. Using AWGN channel model, the throughput performance was studied base on 8FSK modulation to increase the performance. Simulation result was focus on PACTOR I basic data transfer with stop and wait ARQ type. Some parameters such as idle time and Huffman compression were not included in the calculation to focus more on modulation effect and throughput.

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4/22/2020 Performance of 8FSK base on PACTOR I protocol over AWGN channels - IEEE Conference Publication

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Mohd Yazid Ab Razak

Faculty of Engineering and Build Environment, Universiti Kebangsaan, Malaysia, Selangor, Bangi

Nasharuddin Zainal

Abd Rahim Mat Sidek

Mindmatics Sdn Bhd, Kajang, Selangor

I. Introduction

Long distance communication mostly handled by satellite and optical communication. This type of communication required infrastructure and facilities which are not friendly in cost. Satellite communication required line-of-sight to operate and this causing limits in coverage. To overcome the situation, users such as military [1] and shipping chooses to use High Frequency (HF) as one of the communication channel. Popularity of using HF channel was not so popular these days but it is still important for some users such as military, shipping and radio amateurs.

HF band have been used for long distance data communication and radar [2] for many years despite all limitation in the spectrum. Long distance communication is achieved by the reflection of radio wave in the ionospheres. The capabilities to operate beyond-line-of-sigh (BLOS) provides near global connection without repeaters. This makes it suitable for radio amateurs and also base station tactical communication with a minimum cost [3]. For example, Malaysia emergency service have join rescue mission after tsunami in Acheh on December 2004.

With all infrastructure damage, it is almost impossible to have communication in the area. They overcome this by HF communication system.

Mohd Yazid Ab Razak

Nasharuddin Zainal

Abd Rahim Mat Sidek

Mindmatics Sdn Bhd, Kajang, Selangor

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4/22/2020 The Spreading of Misinformation online: 3D Simulation - IEEE Conference Publication

3Author(s) Pardis Pourghomi ; Milan Dordevic ; Fadi Safieddine View All Authors

The Spreading of Misinformation online: 3D Simulation

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Methodology IV. 3D Simulation

Results V. Analysis and

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Abstract: Social media is becoming the de-facto platform for the dissemination of information as research suggests more Internet users are using social media as their main source o... View more

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Social media is becoming the de-facto platform for the dissemination of information as research suggests more Internet users are using social media as their main source of news. In this model, the spread of unverified information is becoming a common place where some could share misinformation as fact. News sharing on social media lacks the traditional verification methods used by professional media. In previous publications, the authors presented a model that shows the extent of the problem thus suggesting the design of a tool that could assist users to authenticate information using a conceptual approached called `right-click authenticate' button. A two-dimensional simulation provided bases for a proof-of-concept and identification of key variables. This paper uses Biolayout three-dimensional modelling to expand their simulations of different scenarios. Using the given variables and values, this paper presents a better understanding of how misinformation travels in the spatial space of social media. The findings further confirmed that the approach of `right-click authenticate' button would dramatically cut back the spread of misinformation online.

Date of Conference: 27-28 Sept. 2018 INSPEC Accession Number: 18311592 DOI: 10.1109/ICITACEE.2018.8576937

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IEEE INFOCOM 2019 - IEEE Conference on Computer Communications Published: 2019

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Motives for Using the Internet 2019 International Conference on Information Management and Technology (ICIMTech)

Published: 2019

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4/22/2020 The Spreading of Misinformation online: 3D Simulation - IEEE Conference Publication

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Date Added to IEEE Xplore: 17 December 2018

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Publisher: IEEE

Pardis Pourghomi

College of Engineering and Technology, American University of the Middle East, Egaila, Kuwait

Milan Dordevic

Fadi Safieddine

School of Business and Management, Queen Mary University of London, London, UK

I. Introduction

Social media nowadays is attracting millions of users to its various platforms, enabling them to spread information and share their interests across the web easily. Due to the huge amount of unverified information presented as facts, most of what is seen online cannot and could not be trusted. Malicious users who have motives to sway other users’ opinions and beliefs tend to be the source of spreading misinformation.

Misinformation could be in the form of chain emails, spam, fake news, dotted images, out of context images, out of context videos, misleading news and many more. The spread of this misinformation does not only waste users’ time and efforts, but could also be dangerous. Therefore, there have been attempts to find means or tools that would limit the spread of misinformation on social media, hence improving the users’

experience in general and bring some credibility to verifying content shared online [1] [2]. The approach consists of developing a technique that limits the spread of fake news by allowing users to authenticate it from within their web browsers. If this piece of information was deemed to be unauthentic, then the user will likely stop sharing it with others out of social responsibility, and hence will drastically limit its spread.

Pardis Pourghomi

Milan Dordevic

Fadi Safieddine

School of Business and Management, Queen Mary University of London, London, UK

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4/22/2020 Review on Cost-Value Approach for Requirements Prioritization Techniques - IEEE Conference Publication

2Author(s) Tan Amelia ; Rozlina Binti Mohamed View All Authors

Review on Cost-Value Approach for Requirements Prioritization Techniques

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Abstract: The use of appropriate requirements prioritization techniques is crucial to the success of a software development project. There are many techniques offered with all the ... View more

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The use of appropriate requirements prioritization techniques is crucial to the success of a software development project. There are many techniques offered with all the advantages and disadvantages of each. The question that come up frequently when doing requirements prioritization is “whether the priority list is generated based on customer's required value?” and “whether the value is generated comparable with the cost incurred for implementation?”. This paper aims to conduct an empirical systematic review to identify and review the requirements prioritization studies based on the cost- value approach. This literature review generates many insights including: reduction of pairwise comparisons, factors and aspects of cost-value, features that support cost value and cost-value constraints.

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29th International Conference on Software Engineering (ICSE'07)

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4/22/2020 Review on Cost-Value Approach for Requirements Prioritization Techniques - IEEE Conference Publication

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Tan Amelia

Faculty of Information System, Institut Bisnis dan Informatika Stikom Surabaya

Rozlina Binti Mohamed

Faculty of Computer Systems & Software Engineering, University Malaysia Pahang, Pahang, Malaysia

I. Introduction

Software development cycle is the period of time that starts from the decision to create a software product and ends when the software has been submitted. Based on IEEE, this cycle consists of requirements, design, implementation, test, and also installation and checkout stages [1]. The first stage in software development cycle is to process the requirements management. One important aspect of managing requirements is knowing which to do first, because it is often unclear which option is better, because many aspects must be considered.

Essentially, the very important problem in the requirement process is choosing the right requirements [2] [3] [4]. Defining the requirements prioritization process is one of the elements that must be implemented in the requirements management process. Firesmith [5] says that

requirements prioritization can mean: firstly, priority based on

implementation, which means determining the sequence of tasks in the incremental development cycle and iterative. Secondly, priority is based on the importance, which means determining the tasks sequence based on the interests of stakeholders in one or more dimensions (e.g., personal reference, business value, cost of implementation, and risk).

Tan Amelia

Faculty of Information System, Institut Bisnis dan Informatika Stikom Surabaya Rozlina Binti Mohamed

Faculty of Computer Systems & Software Engineering, University Malaysia Pahang, Pahang, Malaysia

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Soft robotics: Challenges and perspectives

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A starﬁsh inspired robot with multi-directional tube feet locomotion

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