Modularity for maximum mobility and manipulation: Control of a reconfigurable legged robot with series-elastic actuators

Abstract

Abstract-We present a set of modular series-elastic actuators (SEAs) that allow rapid and robust prototyping of mobile legged robots. The SEA modules were originally developed for a snake robot, SEA Snake, and have recently been reconfigured into Snake Monster, a multi-modal walking robot that can be easily adapted to hexapod, quadruped, and biped configurations. The use of SEAs allows the implementation of a compliant hybrid controller using both position and force-based walking. This paper presents the mechanical design, control architecture, and initial locomotion experiments using the Snake Monster platform. Additionally, we discuss the enhanced capabilities, pertaining particularly to search and rescue applications, enabled by the use of our modular hardware. Finally, we highlight how these modules provide a powerful tool for both field deployment requiring locomotion and manipulation tasks.

Synchronization of Non-linear Oscillators for Neurobiologically Inspired Control on a Bionic Parallel Waist of Legged Robot

“…Synchronization permits different actuators to oscillate with a prescribed phase lead or lag to regulate different movement patterns. On the basis of the joint number, structure connection and behavioral characteristics of different robots [legged robot (Kalouche et al, 2015; Bjelonic et al, 2016; Owaki and Ishiguro, 2017), snake robot (Wang et al, 2016), swimming robot (Stefanini et al, 2006), and flying robot (Corke et al, 2003; Ramezani et al, 2017)], the behavior control networks are also different. The type of oscillator (Wang et al, 2018) and phase difference (Aoi et al, 2011) formation method are also important factors.…”

The current state and future outlook of rescue robotics

“…Inspired by the trial‐and‐error behavior of animals to adapt to injuries, learning algorithms can be used to enable a robot to rapidly adapt to damage (Cully, Clune, Tarapore, & Mouret, ), for example, to the loss of a limb in a legged robot or to reduced range of motion in one of its joints. Modularity and reconfigurability are also appealing properties for legged robot designs (Kalouche, Rollinson, & Choset, ), particularly in SAR situations, in which the morphology of the robot can be adapted to best suit the environment in a rapid deployment. Legged platforms that are capable of being easily reconfigured for different missions with modular sensor and actuation payloads (Hutter et al, ) offer appealing properties as well, by enabling operation throughout all of the phases of the disaster cycle.…”

Modular Field Robots for Extraterrestrial Exploration

“…Platforms such as Snapbot [28][29][30] and Snake Monster [31] connect modular component around a purpose designed torso. Both platforms demonstrate mobility with different numbers of modules attached.…”