Mowgli: A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System

Niiyama, Ryuma; Nagakubo, Akihiko; Kuniyoshi, Yasuo

doi:10.1109/robot.2007.363848

Cited by 215 publications

(119 citation statements)

References 14 publications

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“…Indeed, research in this area has led to the development of small robots capable of both self stabilization and hopping (Zhao et al, 2009). Prior studies on hopping have also addressed mechanics of simple, singlejoint actuated robots that were able to achieve stable hopping gaits (Berkemeier and Fearing, 1998), and single-hop robots have been constructed using pneumatic muscle actuators (Niiyama et al, 2007). It has also been shown that combining several hops was more energy efficient than a single, powerful hop, while producing the same jumping height (Aguilar et al, 2012).…”

Section: Related Workmentioning

confidence: 99%

Exploring the Role of the Tail in Bipedal Hopping through Computational Evolution

Moore

Gutmann

McGowan

et al. 2013

Advances in Artificial Life, ECAL 2013

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Bipedal hopping has evolved as a mode of terrestrial locomotion in relatively few mammalian species. Despite large differences in body size, habitat use, and having evolved independently, all species that use bipedal hopping have remarkably similar limb morphology and posture. In addition, these species all have relatively long tails, presumably to assist in maintaining stability. However, the evolution of this behavior, and specifically the role of the tail, is not well understood. In this paper, we explore the evolution of bipedal hopping in a simulated animat, using a relatively simple musculoskeletal model and a rigid-body physics simulation environment. Results indicate that characteristically different hopping gaits evolve with alterations to the morphology, including the structure and actuation of the tail. Many of the the results are consistent with behaviors and morphologies observed in natural organisms. However, in some cases effective hopping evolved despite key differences from nature, potentially inspiring new design approaches in robotic and biomechanical systems.

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Section: Related Workmentioning

confidence: 99%

Exploring the Role of the Tail in Bipedal Hopping through Computational Evolution

Moore

Gutmann

McGowan

et al. 2013

Advances in Artificial Life, ECAL 2013

View full text Add to dashboard Cite

show abstract

“…However, compared to humans or biological octopus, a comparable level of versatility and robustness in the orchestration of behavior has not yet been achieved in the robotic counterparts. In more restricted settings, the design and subsequent exploitation of morphology is easier, as the jumping and landing robot frog [36], the passive dynamic based walker (Cornell Ranger [4]), or the coffee balloon gripper demonstrate. The predecessors of the Cornell Ranger, the original passive dynamic walkers [33] are a powerful demonstration that appropriate design of morphology can generate behavior in complete absence of software control.…”

Section: Introductionmentioning

confidence: 99%

Simple or Complex Bodies? Trade-offs in Exploiting Body Morphology for Control

Hoffmann

Müller

2017

Studies in Applied Philosophy, Epistemology and Rational Ethics

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Engineers fine-tune the design of robot bodies for control purposes, however, a methodology or set of tools is largely absent, and optimization of morphology (shape, material properties of robot bodies, etc.) is lagging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or "soft" bodies. These carry substantial potential regarding their exploitation for control-sometimes referred to as "morphological computation". In this article 1 , we briefly review different notions of computation by physical systems and propose the dynamical systems framework as the most useful in the context of describing and eventually designing the interactions of controllers and bodies. Then, we look at the pros and cons of simple vs. complex bodies, critically reviewing the attractive notion of "soft" bodies automatically taking over control tasks. We address another key dimension of the design space-whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies.

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“…Currently, there are many robots capable of jumping. Examples include 7g [1], Grillo [2], MSU [3] and mowgli [4]. These robots use linkage leg systems and springs to leap over large obstacles.…”

Section: Introductionmentioning

confidence: 99%

BBot, a hopping two-wheeled robot with active airborne control

Yap

Hashimoto

2016

Robomech J

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Most two-wheeled robots have algorithms that control balance by assuming constant contact with the ground. However, such algorithms cannot confer stability in robots deployed on non-continuous ground terrain. Here, we introduce BBot, a robot that can hop as well as move over stepped terrains. BBot has a two-wheeled lower body platform and a spring-loaded movable upper body mass. Hopping results from the impact force produced by release of pretensed springs. An inertia measurement unit detects the angle of body tilt, and an ultrasonic distance sensor records the height above ground. An accelerometer in the inertia measurement unit measures the impact force to determine the beginning and end of the phases of hopping and landing. Torque generated from rotation of the drive wheels controls the airborne robot's body angle. Sensors detect the impact of landing, and controls immediately switch to ground balance mode to stay upright. Experiment results show that BBot is capable of traversing down a 17 cm step, enduring manual toss landing and hopping 4 cm above ground.

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Mowgli: A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System

Cited by 215 publications

References 14 publications

Exploring the Role of the Tail in Bipedal Hopping through Computational Evolution

Exploring the Role of the Tail in Bipedal Hopping through Computational Evolution

Simple or Complex Bodies? Trade-offs in Exploiting Body Morphology for Control

BBot, a hopping two-wheeled robot with active airborne control

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