An open source low-cost alligator-inspired robotic research platform

Karwa, Kishan Gopal; Mondal, Samiran; Kumar, Amarjeet; Thakur, Ajay Singh

doi:10.1109/ised.2016.7977088

Cited by 5 publications

(4 citation statements)

References 13 publications

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“…He developed the quadruped robot Geo that could be reconfigured to have a sprawling posture with lateral spine movements [91]. Since then several similar robots were designed mainly for ground locomotion, for instance Robo-Salamander [92], an alligator inspired robot [83], and salamander-inspired robots [84], [46]. Only few sprawling robots with articulated spines are capable of amphibious locomotion [23], [45], [65], [88].…”

Section: Robots Capable Of Amphibious and Sprawling Locomotionmentioning

confidence: 99%

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Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Ijspeert

2020

Annu. Rev. Control Robot. Auton. Syst.

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A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhanced its locomotion capabilities on submerged and dry ground. The first terrestrial animals used sprawling locomotion, a type of legged locomotion in which limbs extend laterally from the body (as opposed to erect locomotion, in which limbs extend vertically below the body). This type of locomotion—exhibited, for instance, by salamanders, lizards, and crocodiles—has been studied in a variety of fields, including neuroscience, biomechanics, evolution, and paleontology. Robotics can benefit from these studies to design amphibious robots capable of swimming and walking, with interesting applications in field robotics, in particular for search and rescue, inspection, and environmental monitoring. In return, robotics can provide useful scientific tools to test hypotheses in neuroscience, biomechanics, and paleontology. For instance, robots have been used to test hypotheses about the organization of neural circuits that can switch between swimming and walking under the control of simple modulation signals, as well as to identify the most likely gaits of extinct sprawling animals. Here, I review different aspects of amphibious and sprawling locomotion, namely gait characteristics, neurobiology, numerical models, and sprawling robots, and discuss fruitful interactions between robotics and other scientific fields.

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Section: Robots Capable Of Amphibious and Sprawling Locomotionmentioning

confidence: 99%

“…A: Salamander-like robot[46]. B: Alligator-like robot[83]. C: AMOS-WD02[84].D: Sand swimming robot[85].…”

mentioning

confidence: 99%

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Ijspeert

2020

Annu. Rev. Control Robot. Auton. Syst.

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“…3D-printing [7] and 2D-LASER cutting [8] operations are used to fabricate the robot structure. The robot's limbs have a simplified 2-DOF (degrees of freedom) design rather than the 3-DOF design naturally found in real lizards [9]. This simplification is done in order to reduce the complexity during fabrication and material selection for the robot.…”

Section: Introductionmentioning

confidence: 99%

Development of a Lizard-Inspired Wall-Climbing Robot Using Pressure Sensitive Adhesion

et al. 2022

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This paper presents the design, fabrication, and control of a quadruped wall-climbing robot. The robot's kinematics is inspired by lizards, which use trot-gait for the locomotion. The key features of this robot are its pressure-sensitive adhesive (PSA) enabled adhesion and peeling mechanism and the locomotion controller capable of straight and turning motion. We obtained an average vertical climbing speed of 1.35 cm/s without payload and 1.25 cm/s with a payload of 20 gm. Rapid prototyping techniques namely 3D-printing and 2D-LASER cutting are used to fabricate the entire structure of the robot, allowing easy replication of the entire robot in case a swarm of such robots is needed. This paper also reports climbing stability criteria for the developed robot expressed in terms of the pitching moment. We envisage that the developed robot can be deployed in surveillance, reconnaissance, cleaning, and repairing applications.

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“…A bionic crocodile modular robot consisting of 14 small robot modules was designed at Ohio State University, USA, using an American alligator as a bionic object [5,6]. A low-cost open-source bionic crocodile robot platform was designed by a research team at the Indian Institute of Technology [7]. This platform allows rapid prototyping of robots and facilitates iterative design.…”

Section: Introductionmentioning

confidence: 99%

Motion Performance Analysis of the Sawyer Ankle Rehabilitation Robot

Wang

Kong

Yang

et al. 2019

Advances in Mechanical Design

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Crocodiles, known as one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this paper, we draw inspiration from crocodiles and introduce a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints. This design is based on a comprehensive analysis of the structural and motion characteristics observed in real crocodiles. The bionic crocodile robot has the problem of limb-torso incoordination during movement, in order to solve this problem, we apply the D-H method for both forward and inverse kinematics analysis of the robot's legs and spine. Through a series of simulation experiments, we investigate the robot's stability of motion, fault tolerance, and adaptability to the environment in two motor pattern: with and without the involvement of the spine and tail in its movements. Experiment results demonstrate that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities. This research not only showcases the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance our technological innovations.

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An open source low-cost alligator-inspired robotic research platform

Cited by 5 publications

References 13 publications

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Development of a Lizard-Inspired Wall-Climbing Robot Using Pressure Sensitive Adhesion

Motion Performance Analysis of the Sawyer Ankle Rehabilitation Robot

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