Rolling robot with radial extending legs

Gheorghe, Viorel; Alexandrescu, N.; Duminică, Despina; Cartal, Laurentiu Adrian

doi:10.1109/isrcs.2010.5603951

Cited by 10 publications

(4 citation statements)

References 8 publications

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“…In [22] is presented a concept of rolling robot with twelve extendable legs that are mounted on a dodecahedral nucleus (Figure 17). The locomotion is achieved by shifting the robot mass centre position, by retracting and extending rapidly one or more legs.…”

Section: Bouter Shell Actuated Robotsmentioning

confidence: 99%

Triaxial Symmetric Robots: State of the Art and Trends

2017

IJOMAM

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-Mobile robots currently attract huge interest due to their extraordinary palette of applications, from intelligent toys to complex industrial uses. Different categories of applications have brought the need to develop a wide variety of original locomotion systems, depending on the particular task that needs to be executed. Therefore, several aspects must be considered: the locomotion type, the environment in which the movement is performed, the dynamic requirements (i.e. speed, acceleration), sensor endowment, and safety measures to ensure both the preservation of the robot and of the surrounding life forms. A new trend, increasingly explored lately, consists of using triaxial symmetric robots with rolling and/or jumping locomotion capabilities. Triaxial symmetric robots can be identified as a typology of robots with geometrical symmetry features on all three axes, showing multiple advantages, like: fast recovery after a collision with an obstacle, no overturning risk, the ability of moving in various directions without needing additional movements when switching positions. These characteristics recommend the implementation of the above mentioned robotic structures in situations when the need for multi-modal locomotion concepts arises, the risk of hitting obstacles is unavoidable, high resilience is required, landform transition environment (i.e. shallow waters, swamps), and for surveillance and reconnaissance tasks. The development perspectives in the area are practically endless, therefore the article performs a summary of the state of art in these practical locomotion solutions and proposes new research directions in the same area.

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Section: Bouter Shell Actuated Robotsmentioning

confidence: 99%

Triaxial Symmetric Robots: State of the Art and Trends

2017

IJOMAM

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“…(3) Radial-skeleton robots: Radial-skeleton robots (Gheorghe et al, 2010;Mateos, 2020;Nozaki et al, 2018Nozaki et al, , 2017Wagenknecht & Apostolopoulos, 2010;Wilson et al, 2008) are bio-inspired robots (inspired by sea urchins and tumbleweeds) with multi-radial legs and spherical structures. NASA proposed a tumbleweed-like planetary probe (Wilson et al, 2008) that can be driven by Martian wind to realize exploration; however, it lacks autonomous control capability.…”

Section: Introductionmentioning

confidence: 99%

“…NASA proposed a tumbleweed-like planetary probe (Wilson et al, 2008) that can be driven by Martian wind to realize exploration; however, it lacks autonomous control capability. Inspired by sea urchins, Gheorghe et al (2010) proposed a spherical robot that employs the telescopic mechanism to drive the robot. Researchers at CMU designed a 5-legged pneumatic planar robot prototype (Luders et al, 2008) and a spherical 12-legged pneumatic robot (Wagenknecht & Apostolopoulos, 2010).…”

Section: Introductionmentioning

confidence: 99%

Contact Mechanics-based Gait Generation and Trajectory Tracking Algorithm for Radial-skeleton Robots

Yang

Liu

Ding

et al. 2022

Preprint

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Radial-skeleton shape-changing robots are rough-terrain robots and exhibit many advantages in the aspect of mobility, such as excellent terrain adaptability, light weight, good portability, and stable configuration. However, existing gait generation methods are rough and yield low tracking accuracy because the leg-ground contact friction is difficult to predict and control. In addition, no closed-loop control scheme has been proposed for this type of robot. In this study, we designed a 12-legged radial-skeleton robot with a radial expansion ratio of 2.08. Based on the prototype, we proposed a high-precision gait generation algorithm that can be used to any multi-legged radial-skeleton robot and implemented a closed-loop control scheme for accurate path tracking. Combining the contact friction and multi-body dynamics model, the robot prototype exhibits the advantages of omnidirectional motion, high-precision tracking, and motion robustness. By manufacturing a prototype and conducting comparative experiments, we verified that the proposed method yields good performance in terms of trajectory tracking accuracy and robustness in the cases of unknown terrain and interference.

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“…Furthermore, Kim. et al recently produced a deformable spherical robot with two arms and two pendulums [5], Yoon et al developed an enhanced spherical robot with omni-directional movement [6], Sugiyama et al designed a jumping spherical robot utilizing the temporary transformation of a Shape Memory Alloy (SMA) [7], Tian-yu et al applied an air injection and emission driving mechanism using air bags surrounding the robot shell [8], and Viorel et al made a regular dodecahedron spherical robot with 12 spring legs on each outer shell [9]. However, all these driving mechanisms for spherical robots generate a weak propulsion, meaning that the robots are unable to move across uneven terrain, due to falling into hollows or difficulties with climbing.…”

Section: Introductionmentioning

confidence: 99%

KisBot III: New Spherical Robot with Wind-Driven Driving Mechanism

Seo

Ahn²,

Yoon

et al. 2013

AMM

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This paper introduces a novel spherical robot, KisBot III, with a newly designed wind-driven driving mechanism. The ducted fan for wind propulsion of the robot is installed at the center of the sphere, and according to the direction of the fan, the robot is able to move forwards or backwards. The outer shell is an open framework of spring carbon rods, and also includes two arms that can be folded-out to make the robot stop and partially deform its shape. Plus, for turning and balance control, a pendulum is located under the ducted-fan frame. By adopting wind as the driving mechanism, the robot has enough propulsion to drive over flat and uneven terrain, and negotiate a raised curb and slope. Experiments verify the driving motions and efficiency of the proposed spherical robot.

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Rolling robot with radial extending legs

Cited by 10 publications

References 8 publications

Triaxial Symmetric Robots: State of the Art and Trends

Triaxial Symmetric Robots: State of the Art and Trends

Contact Mechanics-based Gait Generation and Trajectory Tracking Algorithm for Radial-skeleton Robots

KisBot III: New Spherical Robot with Wind-Driven Driving Mechanism

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