Dynamic turning of 13 cm robot comparing tail and differential drive

Pullin, Andrew; Kohut, Nicholas J.; Zarrouk, David; Fearing, Ronald S.

doi:10.1109/icra.2012.6225261

Cited by 87 publications

(82 citation statements)

References 17 publications

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“…When running on an incline, a substantial reduction of speed is observed at a sprawl angle of 45 o and beyond, implying that the thrust force is substantially reduced due to increased collisions with the ground. Figure 11 presents a top view of the trajectory of the robot using closed-loop gyro steering control [11] over carpet as obtained from the Vicon system. For small sprawl angles, the robot is easily capable of traveling straight with practically no error.…”

Section: A Velocity and Stabilitymentioning

confidence: 99%

“…The robot uses a 300mA-hr LiPo, 4V battery from Full River giving 30 minutes endurance when running at full drive capacity. Similar to OctoRoACH [11], the leg set on each of the two sides are not phase synchronized, and STAR uses differential velocity for steering using a closed loop controller, where the yaw rate of the robot is measured using the onboard MEMS gyro and the velocity of the motor is measured from the motor back EMF.…”

Section: Actuation and Controlmentioning

confidence: 99%

“…Their low weight and cost allow their deployment in large numbers, independently or in swarms, to cover a large work area and increase the odds that some of the robots will succeed in performing a specific task. Some existing examples of comparable robots can crawl at more than 5 (and up to 15) body lengths per second, such as Mini-Whegs [10], Dyna-RoACH [4], DASH [1], iSprawl [6], OctoRoACH [11], RHex [3], and Sprawlita [2]. Since it is difficult to implement active leg joints at this scale, a key challenge in developing a high speed and highly maneuverable miniature crawler is the design of passive mechanical elements which contribute to the stability of the robot during locomotion, similar to insects [8] [5].…”

Section: Introductionmentioning

confidence: 99%

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STAR, a sprawl tuned autonomous robot

Zarrouk

Pullin

Kohut

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract² This paper presents a six-legged, sprawl-tuned autonomous robot (STAR). This novel robot has a variable leg sprawl angle in the transverse plane to adapt its stiffness, height, and leg-to-surface contact angle. The sprawl angle can be varied from nearly positive 60 degrees to negative 90 degrees, enabling the robot to run in a planar configuration, upright, or inverted (see movie). STAR is fitted with spoke wheel-like legs which provide high electromechanical conversion efficiency and enable the robot to achieve legged performance over rough surfaces and obstacles, using a high sprawl angle, and nearly wheel-like performance over smooth surfaces for small sprawl angles. Our model and experiments show that the contact angle and normal contact forces are substantially reduced when the sprawl angle is low, and the velocity increases over smooth surfaces, with stable running at all velocities up to 5.2m/s and a Froude number of 9.8. I. INTRODUCTIONDrawing inspiration from insects, miniature crawling robots possess substantial advantages over wheeled vehicles for off-road locomotion, such as in caves and collapsed buildings, for reconnaissance and search and rescue purposes. Their low weight and cost allow their deployment in large numbers, independently or in swarms, to cover a large work area and increase the odds that some of the robots will succeed in performing a specific task. Some existing examples of comparable robots can crawl at more than 5 (and up and that the sprawled posture is more energy efficient. Full et al. presented a first sprawled robot, SprawlHex [7], which can adjust its sprawl angle, up to 20 degrees, in order to experimentally compare to animal behavior.

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Section: A Velocity and Stabilitymentioning

confidence: 99%

Section: Actuation and Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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STAR, a sprawl tuned autonomous robot

Zarrouk

Pullin

Kohut

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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“…Email: {kkaryd, poulakas, btanner}@udel.edu The OctoRoaCH robot, designed by A. O. Pullin [8] at the University of California, Berkeley and manufactured by Motile Robotics, Inc. The robot has a total mass of 35 gm, its body size is 130x60x30 mm and the maximum speed it can reach is 0.5 m/s.…”

Section: Introductionmentioning

confidence: 99%

“…However, its reliance on a single motor to control its alternating tripod mechanism leads to instabilities when turning at high yaw frequency on surfaces with moderate friction. This has been the motivation for introducing the eight-legged OctoRoACH platform [8].…”

Section: Introductionmentioning

confidence: 99%

A switching kinematic model for an octapedal robot

Karydis

Poulakakis

Tanner

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We propose a new horizontal locomotion model to describe the motion of an eight-legged bio-inspired miniature robot. The model does not include compliance, and can capture the kinematics of the observed locomotion behavior that corresponds to an alternating tetrapod gait. We exploit symmetries and synergies to reduce the eight-legged robot to a mechanism that is composed by two switching four-bar linkages, each representing the collective effect of a tetrapod in contact with the ground. Notwithstanding its apparent simplicity, the resulting model reproduces on average the motion of the robot. In addition, by properly tuning a family of physically-relevant parameters-including touchdown and sweep angles-different motion primitives corresponding to circular and forward motion can be realized. This model represents a first step toward developing reduced-order kinematic representations of legged robots that can be used for motion planning and feedback control purposes.

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