Efficiency and effectiveness analysis of a new direct drive miniature quadruped robot

Brown, Christopher Y.; Vogtmann, Dana E.; Bergbreiter, Sarah

doi:10.1109/icra.2013.6631386

Cited by 15 publications

(9 citation statements)

References 10 publications

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“…Other vertical climbing designs use tracks of adhesive materials in place of wheels to increase the area in contact with the wall [14,15] or an inchworm style gait [16,17]. Four wheeled and legged designs at this characteristic scale have also been shown with similar manufacturing techniques to this work [18,19]. This paper will introduce the methods and materials used for fabrication in Section 2.…”

Section: Introductionmentioning

confidence: 93%

Rotary Microspine Rough Surface Mobility

Carpenter

Wiltsie

Parness

2016

IEEE/ASME Trans. Mechatron.

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JPL is developing a class of lightweight, highly mobile, crash-proof robots for reconnaissance and security applications.Arrays of independently compliant rotary microspines are used to build wheels that enable the robots to climb stairs, mount curbs, and climb rough vertical walls. This work presents many improvements to the rotary microspine wheels and several new configurations of the robotic platforms, including miniaturized robots weighing less than 10 grams. New microspine flexure materials are presented including viscoelastic flexures that dampen the impact of individual hook elements, and mass-manufacturable microspines made using a single cast process over steel wire in place of elastic flexures. Rapid iteration of microspine designs was done using shape deposition manufacturing and a single-wheeled test robot. This process allowed new wheel concepts to go from design to testing in just three days. In addition new configurations of robots with a powered wheel in the tail have improved reliability and demonstrated new capabilities like climbing heavily painted curbs, climbing stairs with overhanging face angles, and vertical climbing of concrete block buildings as tall as six stories. These results are presented below and in the accompanying video.

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Section: Introductionmentioning

confidence: 93%

Rotary Microspine Rough Surface Mobility

Carpenter

Wiltsie

Parness

2016

IEEE/ASME Trans. Mechatron.

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“…3(a)), ground reaction forces result in significant vertical perturbations which cause bouncing effects, additional energy consumption and reduce the maximum speed the robot can achieve [5]. Sprawling, on the other hand, leads to robot behaviors that are qualitatively closer to those observed in insects [12].…”

Section: Description Of Motion Capabilitiesmentioning

confidence: 99%

“…Examples include the underactuated robots i-Sprawl [1], Mini-Whegs [2], [3] and STAR [4], as well as the directdriven robot [5]. The Smart Composite Microstructure (SCM) technique [6] has contributed to the development of minimally actuated palm-sized crawling robots, including DynaRoACH [7] and OctoRoACH [8].…”

Section: Introductionmentioning

confidence: 99%

A passively sprawling miniature legged robot

Stager

Karydis

Tanner

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The paper reports on the design and preliminary experimental testing of a novel 3D-printed miniature legged robot. It is called Passively Sprawling Robot (PSR), and it features a mechanism that achieves passive adjustment of the sprawl angle of the robot's legs. Passive sprawling in this robot exhibits compliance by design, yet it can be controlled indirectly by regulating the yaw rate. Spring-loaded assemblies on the left and right side of the robot function independently, allowing the vehicle to overcome asymmetrical obstacles with improved lateral stability, and withstand falls from moderate heights without sustaining structural damage. The regulation of the sprawling angle by means of varying yaw rates, as well as the improved motion characteristics have been experimentally observed and verified, and open-loop motion accuracy along straight and constant curvature paths was tested on a number of repeated trials.

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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%

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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Efficiency and effectiveness analysis of a new direct drive miniature quadruped robot

Cited by 15 publications

References 10 publications

Rotary Microspine Rough Surface Mobility

Rotary Microspine Rough Surface Mobility

A passively sprawling miniature legged robot

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

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