HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging Terrain

Uno, Kentaro; Takada, Naomasa; Okawara, Taku; Haji, Keigo; Candalot, Arthur; Ribeiro, Warley F. R.; Nagaoka, Kenji; Yoshida, Kazuya

doi:10.1109/humanoids47582.2021.9555799

Cited by 20 publications

(4 citation statements)

References 16 publications

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“…For this simulation study, we assume a rough surface to emulate an asteroid with a gravity of 10 −6 G. The surface coefficients for stiffness and damping are 4000 N/m and 1 Ns/m, respectively. As for the robot model, we assume the inertial and length parameters of Hubrobo, a quadruped insect-type robot with three controllable articulations per leg [23]. Details of the parameters of the robot are in Table I.…”

Section: A Quadrupedal Robot On An Asteroid (Rough Surface)mentioning

confidence: 99%

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity

Ribeiro¹,

Uno²,

Masazumi³

et al. 2023

Preprint

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Robotic mobility in microgravity is necessary to expand human utilization and exploration of outer space. Bio-inspired multi-legged robots are a possible solution for safe and precise locomotion. However, a dynamic motion of a robot in microgravity can lead to failures due to gripper detachment caused by excessive motion reactions. We propose a novel Reaction-Aware Motion Planning (RAMP) to improve locomotion safety in microgravity, decreasing the risk of losing contact with the terrain surface by reducing the robot's momentum change. RAMP minimizes the swing momentum with a Low-Reaction Swing Trajectory (LRST) while distributing this momentum to the whole body, ensuring zero velocity for the supporting grippers and minimizing motion reactions. We verify the proposed approach with dynamic simulations indicating the capability of RAMP to generate a safe motion without detachment of the supporting grippers, resulting in the robot reaching its specified location. We further validate RAMP in experiments with an air-floating system, demonstrating a significant reduction in reaction forces and improved mobility in microgravity.

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Section: A Quadrupedal Robot On An Asteroid (Rough Surface)mentioning

confidence: 99%

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity

Ribeiro¹,

Uno²,

Masazumi³

et al. 2023

Preprint

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“…Diverse types of rigid robots have been developed that can adhere to diverse surfaces using different attachment methods. Wall-climbing methods for four-legged wall-climbing robots have been developed through the use of magnets, hooks, gecko-inspired structures, and wet adhesion pads [3][4][5][6][7] . Approaches for four-wheeled robots capable of adhering to walls have been developed using electric duct fans or using magnets while the wheels move the robot 8,9 .…”

Section: Soft Climbing Robot With Magnetic Feet For Multimodal Locomo...mentioning

confidence: 99%

Soft climbing robot with magnetic feet for multimodal locomotion

Park

Rodrigue

2023

Sci Rep

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Inspection robots that can be used to inspect man-made structures have significant potential for industrial applications, but existing soft robots are not well suited for the exploration of complex metallic structures with many obstacles. This paper proposes a soft climbing robot well suited for such conditions as the robot uses feet with a controllable magnetic adhesion. It uses soft inflatable actuators to control this adhesion as well as the deformation of the body. The proposed robot consists of a robot body that can bend and lengthen, robot feet that can magnetically adhere to and detach from metallic surface, and rotational joints connecting each foot to the body to give the robot additional flexibility. It combines extensional soft actuators for the deformation of the body and contractile linear actuators for the robot feet, and the robot can produce complex deformations of the body that allow it to overcome a variety of scenarios. The capabilities of the proposed robot were verified through the implementation of three scenarios on metallic surfaces: crawling, climbing, and transitioning between surfaces. The robots could crawl or climb nearly interchangeably, could transition to and from horizontal surfaces to either upward or downward vertical surfaces.

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“…The gripper consists of four fingers with two phalanxes, two servo-motors that drive two phalanxes separately, a cable driving system, compliant components, and 120 microspines produced by SDM [154]. Tohoku University developed a rock climbing robot equipping a passive spiny gripper, which is inspired by the digital tendon locking mechanism of Chiroptera [155]. The gripper uses a suspension gripping mechanism that can passively and adaptively grasp minor irregularities of rough surfaces without consuming energy.…”

Section: Applications In Robotic Grippersmentioning

confidence: 99%

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

Ding

2022

Front. Mech. Eng.

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Many organisms have attachment organs with excellent functions, such as adhesion, clinging, and grasping, as a result of biological evolution to adapt to complex living environments. From nanoscale to macroscale, each type of adhesive organ has its own underlying mechanisms. Many biological adhesive mechanisms have been studied and can be incorporated into robot designs. This paper presents a systematic review of reversible biological adhesive methods and the bioinspired attachment devices that can be used in robotics. The study discussed how biological adhesive methods, such as dry adhesion, wet adhesion, mechanical adhesion, and sub-ambient pressure adhesion, progress in research. The morphology of typical adhesive organs, as well as the corresponding attachment models, is highlighted. The current state of bioinspired attachment device design and fabrication is discussed. Then, the design principles of attachment devices are summarized in this article. The following section provides a systematic overview of climbing robots with bioinspired attachment devices. Finally, the current challenges and opportunities in bioinspired attachment research in robotics are discussed.

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HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging Terrain

Cited by 20 publications

References 16 publications

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity

Soft climbing robot with magnetic feet for multimodal locomotion

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

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