NASA/JPL Tumbleweed polar rover

Behar, A.; Matthews, J. W.; Carsey, F.; Jones, Jack A.

doi:10.1109/aero.2004.1367622

Cited by 47 publications

(28 citation statements)

References 2 publications

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“…They can operate in hostile industrial environments, other planets or a human place like an office or a house. In those environments, they have been used to obtain environmental data with sensors, gather and convey an object with an arm installed inside them [1][2][3][4][5][6][7]. Those environments, however, may have obstacles or changes in elevation that interrupt rolling locomotion.…”

Section: Introductionmentioning

confidence: 99%

Energy-based control for a biologically inspired hexapod robot with rolling locomotion

Nemoto

Elara

Iwase

2015

Digital Communications and Networks

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This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

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Section: Introductionmentioning

confidence: 99%

Energy-based control for a biologically inspired hexapod robot with rolling locomotion

Nemoto

Elara

Iwase

2015

Digital Communications and Networks

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“…Spherical robots operate in hostile industrial environment, other planets or a human place like office or home. Spherical robots have been expected to obtain environmental data with sensors, gather and convey an object with an arm installed inside a spherical body in those environments [1][2][3][4][5][6][7]. However, it is considered that these environments have obstacles or difference in level that interrupt rolling locomotion.…”

Section: Introductionmentioning

confidence: 99%

Realization of rolling locomotion by a wheel-spider-inspired hexapod robot

2015

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This study aims to realize rolling locomotion by a multi-legged robot inspired by "wheel spider" in nature. A novel robot mechanism and a strategy for rolling locomotion is proposed in this paper based on motion analysis of wheel spider species in nature. We also present details of a model of a wheel-spider-inspired hexapod robot and design of its controller in realizing rolling locomotion. Results of numerical simulations validated the efficacy of the proposed approach in synthesizing rolling locomotion in a wheel-spider-inspired hexapod robot. Keywords:Biologically inspired robot; Multi-legged robot; Wheel spider; Rolling locomotion; Modeling; Simulation BackgroundRolling locomotion which has high mobility has been applied many times to mobile robots. Spherical robots are an example of mobile robots performing rolling locomotion. Spherical robots operate in hostile industrial environment, other planets or a human place like office or home. Spherical robots have been expected to obtain environmental data with sensors, gather and convey an object with an arm installed inside a spherical body in those environments [1][2][3][4][5][6][7]. However, it is considered that these environments have obstacles or difference in level that interrupt rolling locomotion. In this case, robots should apply other locomotion. This paper focuses on creatures found in nature that can perform rolling locomotion and other locomotion. Spiders called "wheel spider (carparachne aureoflava)" which can perform rolling locomotion is one of the creatures in nature. The wheel spiders can reconfigure its body structures as wheels by fixing its legs into constant positions and perform rolling locomotion on its side on a slope [8].This paper aims to realize rolling locomotion by a wheel-spider-inspired multi-legged robot on the flat ground.Biologically inspired robots have been studied in literatures, e.g., [9][10][11]. Especially, biologically inspiredrolling *Correspondence: nemoto@ctrl.fr.dendai.ac.jp 1 Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Tokyo, Japan Full list of author information is available at the end of the article locomotion has been discussed in literatures, e.g., [12,13]. Lin has focused on caterpillars that can escape rapidly from predators by reconfiguring their body structures like wheels. Caterpillar-inspired soft robots have been developed and attempted rolling locomotion [12]. King has focused on rolling locomotion repeating somersault performed by a spider called "huntsman spider (cebrennus villosus)". A quadruped robot which can somersault has been developed based on an image analysis of its rolling locomotion. The quadruped robot has performed rolling locomotion [13].In those studies, although behavior of the creatures is analyzed by images, biologically inspired mathematical models are not developed. In this paper, a biologically inspired mathematical model of the wheel spiders is developed and rolling locomotion is analyzed through simulations. The model captures characteristics of rolling locomoti...

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“…This seemingly unlucky incident produced a rather lucky discovery and was the inspiration for the current Tumbleweed rover 4 . Further details of most of these concepts are described in an excellent summary paper by Bruhn, et all.…”

Section: Jpl Wind Driven Rover Historymentioning

confidence: 99%