A passively sprawling miniature legged robot

Stager, Adam; Karydis, Konstantinos; Tanner, Herbert G.

doi:10.1109/icra.2015.7139630

Cited by 6 publications

(3 citation statements)

References 23 publications

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“…Countless all‐terrain vehicles and robots have been developed using limbless (e.g., snake) (Crespi et al, 2005; Crespi & Ijspeert, 2006; Ma et al, 2014; Marvi et al, 2014; S. Yu et al, 2011), limbed (Crespi et al, 2013; Floyd et al, 2008, 2006; Floyd & Sitti, 2008; Jun et al, 2013; Karakasiliotis et al, 2016; Kim et al, 2016; Lee et al, 2014; Low et al, 2007; Mazouchova et al, 2013; Park et al, 2009, 2010; Park & Sitti, 2009; Wang et al, 2006; Zhong et al, 2016), screw‐propelled (Neumeyer & Jones, 1965; Osiński & Szykiedans, 2015; Thoesen, McBryan, et al, 2019; Thoesen et al, 2018; Thoesen, Ramirez, et al, 2019), wheeled (Sun & Ma, 2013; J. Yu et al, 2012, 2013), and whegged (i.e., legged‐wheels) (Brown et al, 2013; Eich et al, 2008, 2009; Herbert et al, 2008; Lambrecht et al, 2005; Stager et al, 2015; Walker, 2011; Zarrouk et al, 2013; Zarrouk & Yehezkel, 2018) mechanisms for mobility.…”

Section: Introductionmentioning

confidence: 99%

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Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

Bagheri

Jayanetti

Burch

et al. 2022

Journal of Field Robotics

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The effectiveness of exploration robots is contingent upon their capability and efficiency to locomote on contorted and multifaceted terrains. Traditional wheeled robots do not suffice at overcoming such terrains and complications they introduce. The proposed work explores the performance of WhegRunner, a whegged (i.e., wheel-legged) robotic platform used to examine the mechanics of running on granular media at different saturation levels. In particular, the effect of bipedal/quadrupedal gait, saturation level, stride length, and stride frequency on robot's forward body velocity and cost of transport (COT) was studied. To increment nominal stride length, the robot was fitted with different number of spoked whegs from 3 to 7. In addition, eight evenly spaced motor speeds ranging from 2.33 to 7.43 Hz were used to observe the effect of stride frequency. Similar trends were observed between the two gaits, with the quadrupedal gait showing better overall performance. On dry sand, wider strides were attained at reduced motor speeds with lower spoked whegs. However, on wet sand (15% and 30% saturation), wider strides were achieved with higher motor speeds and lower spoked whegs. As a result, lower spoked whegs accomplished higher body forward velocity and lower COT as saturation increased. The acquired knowledge elucidates underexplored mechanics of locomotion on granular media at different saturation levels. The WhegRunner can be used as a platform to obtain a greater insight on how to develop more proficient exploration robots, ones which can face complex and deformable terrains and mediums.

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Section: Introductionmentioning

confidence: 99%

“…Yu et al, 2012J. Yu et al, , 2013, and whegged (i.e., legged-wheels) (Brown et al, 2013;Eich et al, , 2009Herbert et al, 2008;Lambrecht et al, 2005;Stager et al, 2015;Walker, 2011;Zarrouk et al, 2013;Zarrouk & Yehezkel, 2018) mechanisms for mobility.…”

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confidence: 99%

Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

Bagheri

Jayanetti

Burch

et al. 2022

Journal of Field Robotics

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“…2 shows the comparative advantage of OpenRoACH over representative legged robots. [12] 15.5×11.65×7 300 N/A PSR [13] 18×11×9 334 N/A SPIDAR [14] 14×15×6 II. MECHANICAL DESIGN AND FABRICATION OpenRoACH is folding-based [17] so that minimal assembly is required.…”

Section: Introductionmentioning

confidence: 99%

OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)

Wang

Yang

Correa

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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OpenRoACH is a 15-cm 200-gram self-contained hexapedal robot with an onboard single-board computer. To our knowledge, it is the smallest legged robot with the capability of running the Robot Operating System (ROS) onboard. The robot is fully open sourced, uses accessible materials and off-the-shelf electronic components, can be fabricated with benchtop fastprototyping machines such as a laser cutter and a 3D printer, and can be assembled by one person within two hours. Its sensory capacity has been tested with gyroscopes, accelerometers, Beacon sensors, color vision sensors, linescan sensors and cameras. It is low-cost within $150 including structure materials, motors, electronics, and a battery. The capabilities of OpenRoACH are demonstrated with multi-surface walking and running, 24-hour continuous walking burn-ins, carrying 200-gram dynamic payloads and 800-gram static payloads, and ROS control of steering based on camera feedback. Information and files related to mechanical design, fabrication, assembly, electronics, and control algorithms are all publicly available on https://wiki.eecs.berkeley.edu/biomimetics/Main/OpenRoACH.

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Stochastic behavior of robots that navigate by interacting with their environment

Stager

Tanner

2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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A passively sprawling miniature legged robot

Cited by 6 publications

References 23 publications

Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)

Stochastic behavior of robots that navigate by interacting with their environment

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