Bio‐inspired Robot Locomotion

Buschmann, Thomas; Trimmer, Barry A.

doi:10.1002/9781118873397.ch14

Cited by 8 publications

(5 citation statements)

References 123 publications

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“…obots composed of soft and elastically deformable materials can be engineered to squeeze through confined spaces 1 , sustain large impacts 2 , execute rapid and dramatic shape change 3 , and exhibit other robust mechanical properties that are often difficult to achieve with more conventional, piece-wise rigid robots [4][5][6][7][8][9][10] . These platforms not only exhibit unique and versatile mobility for applications in biologically inspired field robotics, but can also serve as a testbed for understanding the locomotion of soft biological organisms.…”

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confidence: 99%

Dynamic simulation of articulated soft robots

Huang

Majidi

et al. 2020

Nat Commun

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Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design.

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confidence: 99%

Dynamic simulation of articulated soft robots

Huang

Majidi

et al. 2020

Nat Commun

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“…1, which aims to autonomously navigate across complex environments for exploration and rescue missions. The mechanism design of the limbs consists of a simplification of the appendages of insects, considering only their largest segments, i.e., coxa, femur, and tibia, which [9] assumed as the optimal design for the robotic legs of a hexapod. This model has a total of 18 Degrees of Freedom (DOF), having 3 DOF per leg.…”

Section: Kinematics Of the Robot's 3d Modelmentioning

confidence: 99%

Study of the locomotion of a hexapod using CoppeliaSim and ROS

Coelho

Sá

Ribeiro

et al. 2021

2021 International Conference on Computers and Automation (CompAuto)

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Generating adaptive locomotion has seen a growing interest for the design of hexapods due to improving the autonomy of these robots, allowing them to execute tasks in more demanding environments. Data from the robot's surrounding must be acquired and processed to adjust the locomotion, and aid with the actuation of the six limbs. This paper aims at using force sensors placed on the feet of a hexapod to control the changes of the gait phase of each limb. These sensors also assist in the search of new footholds when no contact forces are established with the ground. The system is tested in a smooth irregular terrain with obstacles, steps, and ramps, using CoppeliaSim and ROS (Robot Operating System), to dynamically evaluate the behavior of the hexapod.

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“…The proposed method avoids increasing the system kinematic design complexity by resorting to an optimal simplification of the insects appendages, i.e. three DOF per leg (Buschmann and Trimmer, 2017). The torso pose is adjusted through estimation of the plane formed by the footholds in the stance phase, using the robot kinematic model.…”

Section: Introductionmentioning

confidence: 99%

Hexapod Posture Control for Navigation Across Complex Environments

Coelho

Dias

Lopes

et al. 2022

ROMANSY 24 - Robot Design, Dynamics and Control

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Hexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the current supporting feet coordinates are calculated, and the relative inclination between the ground and the torso angular position can be obtained. This information is used to adjust the novel foothold positions, in order to ensure the hexapod posture remains stable. The torso height is also controlled to avoid collisions with the ground asperities and decrease its deviation during motion. The proposed method is evaluated in a complex terrain made of 0.1×0.1 m blocks with variable height, causing different slopes across the field. Through result analysis, a significant behavior improvement is observed, due to the reduction of the torso posture oscillation and the increase of its locomotion efficiency.

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Bio‐inspired Robot Locomotion

Cited by 8 publications

References 123 publications

Dynamic simulation of articulated soft robots

Dynamic simulation of articulated soft robots

Study of the locomotion of a hexapod using CoppeliaSim and ROS

Hexapod Posture Control for Navigation Across Complex Environments

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