Detection of slippery terrain with a heterogeneous team of legged robots

Haldane, Duncan W.; Fankhauser, Péter; Siegwart, Roland; Fearing, Ronald S.

doi:10.1109/icra.2014.6907527

Cited by 11 publications

(5 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Heterogeneous multi-agent collaboration tasks leverage the diverse capabilities and complementary attributes of the robots to enhance the scalability and robustness of the multi-agent system. There are already some heterogeneous robot combinations proposed such as aerial-ground collaboration [21,53], main-picket collaboration [13], and humanoid-quadruped collaboration [43]. However, challenges in coordination, planning, and execution are also presented.…”

Section: A Heterogeneous Multi-agent Tasksmentioning

confidence: 99%

“…Decentralized cooperative transportation by aerial and ground robots equipped with manipulators is discussed in [21]. Haldane et al [13] undertake joint locomotion and perception tasks by legged robots of varying sizes and capabilities. There is also work dealing with multi-task collaboration scenarios involving a variety of heterogeneous robots and humans [25].…”

Section: A Heterogeneous Multi-agent Tasksmentioning

confidence: 99%

See 1 more Smart Citation

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Liu

Yang

Wang

et al. 2023

Preprint

View full text Add to dashboard Cite

BHACS was established to fill the lack of a large representative cohort of the elderly based on general populations and was designed to evaluate the prevalence, incidence, and natural history of cognitive decline, functional disability, and conventional vascular risk factors. The objectives were to determine the evolution of those diseases by estimating rates and impact factors of progression and reversion to adverse outcomes including dementia, cardiovascular events, cancer, and all-cause death. Therefore, it can provide evidence to help policy-makers develop better policies to promote healthy aging in China. BHACS was formed by three cohorts in Beijing with a total population of 11 235 (6281 in urban, 4954 in rural), the baseline survey time and follow-up time differed between the three. BLSA was followed up in 2014 with the baseline survey completed in 2009; CCHS-Beijing was followed up twice in 2015-2016 and 2018-2019 as its baseline survey was performed in 2013-2015; BECHCS was followed up every two or three years with the baseline investigation completed in 2010-2014. Data were collected using questionnaires, physical measurements, and laboratory analysis. Topics of BHACS include numerous physical and mental health indicators, living habits, and personal, familial, and socio-economic health determinants. There is no immediate plan to make the cohort data freely available in the public domain, specific proposals for further collaboration are welcome.

show abstract

Section: A Heterogeneous Multi-agent Tasksmentioning

confidence: 99%

Section: A Heterogeneous Multi-agent Tasksmentioning

confidence: 99%

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Liu

Yang

Wang

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…A lower value corresponds with more efficient locomotion. Specific resistance as defined, for example, in Zarrouk et al [18] is shown in (2).…”

Section: B Specific Resistance and Drag Energymentioning

confidence: 99%

“…Recently developed low-cost folded legged millirobots have demonstrated high-speed locomotion [1] and turning maneuverability on diverse terrain [2] [3], which makes them potential candidates for performing a swarm-like distributed search for survivors in disaster scenarios such as an earthquake building collapse. This class of palm-sized robots is manufactured using the scaled Smart Composite Microstructures (SCM) process, which enables inexpensive and rapid fabrication of millimeter-scale integrated folded mechanisms that drive many legs with few motors [4] [5].…”

Section: Introductionmentioning

confidence: 99%

Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment

Koc

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces significantly affect locomotion. In this work, a (previously developed) low-cost 6-axis force/torque sensing shell is used to measure the interaction forces between a hexapedal millirobot and a set of compliant beams, which act as a surrogate for a densely cluttered environment. Experiments with a VelociRoACH robotic platform are used to measure lift and drag forces on the tactile shell, where negative lift forces can increase traction, even while drag forces increase. The drag energy and specific resistance required to pass through dense terrains can be measured. Furthermore, some contact between the robot and the compliant beams can lower specific resistance of locomotion. For small, light-weight legged robots in the beam environment, the body motion depends on both legground and body-beam forces. A shell-shape which reduces drag but increases negative lift, such as the half-ellipsoid used, is suggested to be advantageous for robot locomotion in this type of environment.

show abstract

“…9,10) Therefore, hexapods can realize stable walking with simple control. There are many successful applications for hexapod robots that realize robust movement on various terrains with high stability, such as HAMR, 4,11,12) RoACH, 13) VelociRoACH, [14][15][16][17] DASH, 18) Rhex, [19][20][21] and iSprawl. 22,23) Swarm algorithms for micro robots are more desirable than fewer normal sized robots in terms of efficiency and costs.…”

Section: Introductionmentioning

confidence: 99%

A micro hexapod robot for swarm applications assembled from a single FPC sheet

Asamura¹,

Nagasawa

2021

Jpn. J. Appl. Phys.

View full text Add to dashboard Cite

In recent years, micro robots have been actively studied for swarm applications. For example, micro hexapod robots have remarkable mobility on rough terrains. To apply micro hexapod robots in swarm explorations, the fabrication costs of the robots must be reduced. In this study, we propose a hexapod robot for swarm applications, assembled from a single flexible printed circuit (FPC) sheet. The necessary components for swarm applications (the body frame, legs, micro actuators, walking linkages, driving circuits, and microcontroller) are integrated into one FPC sheet. Our robot is assembled by folding one FPC sheet, and eliminating the need to handle and align multiple components during assembly. Thus, the robot can be fabricated cost effectively in short time. Moreover, we perform a driving test of the walking linkage and a walking test of the hexapod robot to demonstrate its effectiveness.

show abstract

Detection of slippery terrain with a heterogeneous team of legged robots

Cited by 11 publications

References 25 publications

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Cohort Profile: Beijing Healthy Aging Cohort(BHACS)

Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment

A micro hexapod robot for swarm applications assembled from a single FPC sheet

Contact Info

Product

Resources

About