The latest generation Whegs&amp;#x2122; robot features a passive-compliant body joint

Boxerbaum, Alexander S.; Oro, J.; Peterson, Gilbert L.; Quinn, Roger D.

doi:10.1109/iros.2008.4650997

Cited by 31 publications

(24 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The tail allows the robot to approach the obstacle more closely, placing its center of mass in a better position. The lack of the rear body segment also places the center of mass forward, which agrees with data that a more forward center of mass results in better climbing ability and less high centering [23].…”

Section: Obstacle Climbingsupporting

confidence: 88%

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Boxerbaum¹,

Klein²,

Kline³

et al. 2012

J. Robot. Mechatron.

View full text Add to dashboard Cite

Surf-zone environments represent an extreme challenges to robot operation. A robot that autonomously navigates rocky terrain, constantly changing underwater currents, hard-packed moist sand and loose dry sand characterizing this environment, would have significant utility in a range of defence and civilian missions. The study of animal locomotion mechanisms can elucidate specific movement principles that can be applied to address these demands. In this work, we report on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. We specifically report a new design fusing a range of insectinspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse a range of challenging substrates both in and out of the water, and the design and construction of SeaDog, a proof-of-concept amphibious robot built for navigating rocky or sandy beaches and turbulent surf zones. The robot incorporates a layered hull and chassis design that is integrated into a waterproof Explorer Case in order to provide a large, protected payload in an easy-to-carry package. It employs a rugged drivetrain with four wheel-legs and a unique tail design and actuation strategy to aid in climbing, swimming and stabilization. Several modes of terrestrial and aquatic locomotion are suggested and tested versus range of mobility metrics, including data obtained in simulation and hardware testing. A waterproofing strategy is also tested and discussed, providing a foundation for future generations of amphibious mobile robots.

show abstract

Section: Obstacle Climbingsupporting

confidence: 88%

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Boxerbaum¹,

Klein²,

Kline³

et al. 2012

J. Robot. Mechatron.

View full text Add to dashboard Cite

show abstract

“…This increases the power consumption for uneven terrain. This is clearly illustrated in Dagsi Whegs TM [5]. It requires the same power for walking over three hours on relatively level terrain as for climbing for 45 minutes.…”

Section: Introductionmentioning

confidence: 99%

“…Some other attempts to develop legged walkers include Dagsi Whegs TM [5], RHex [6], MSROX [7], and IMPASS [8]. RHex in particular follows the biological inspiration from cockroaches that there is no defined border separating the foot and the rest of the leg.…”

Section: Introductionmentioning

confidence: 99%

The role of morphological computation of the goat hoof in slip reduction

Abad

Sornkarn

Nanayakkara

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Abstract-The remarkable ability of goats to maintain stability during climbing cliffs or trees provides a valuable opportunity to understand some of the secrets of stable legged locomotion on unstructured terrains. This paper, for the first time, presents analytical and experimental explanations as to how the morphological computation at the goat hoof makes a significant contribution to slip reduction on both smooth and rough surfaces. We conducted experiments using a laboratory made hoof and compared its dynamic behavior against a rounded foot. We recorded forces and position of the hoof to analyze the effect of its shape and the individual contributions from 3-joints in the hoof on the work required to slip. Results state that the work required to move the hoof is more than 3 times that required to move a rounded foot. Additionally, the variables in the transient state are affected not only by the number and type of joints but also by the interaction with the environment. These findings promote the development of new types of feet for robots for all terrain conditions with greater stability and less control complexity.

show abstract

“…The Whegs TM family [24], [21], [7] of robots uses a single motor to power hybrid "wheel-legs" through a standard transmission that uses elements like gears and chains. The iSprawl [18] drive an arrangement of push-pull cables that lengthen and shorten its legs while protraction and retraction are accomplished passively using compliant rotational hips made from a viscoelastic polymer.…”

Section: A Kinematic Transmission Designmentioning

confidence: 99%

“…8(b) shows the coordinate convention for left stance, with ψ increasing ter-clockwise; for right stance ψ increases clockwise, but θ is taken increasing counter-clockwise ughout. To accommodate this we preface θ with the factor (−1) n where left and right strides espond to n even and odd respectively [7]. In terms of these coordinates the kinetic and potential gies are given in Eqs.…”

Section: Equations Of Motion and Stride To Stride Mapmentioning

confidence: 99%

Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot

Hoover

Burden

et al. 2010

2010 3rd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

116

View full text Add to dashboard Cite

Rapidly running arthropods like cockroaches make use of passive dynamics to achieve remarkable locomotion performance with regard to stability, speed, and maneuverability. In this work, we take inspiration from these organisms to design, fabricate, and control a 10cm, 24 gram underactuated hexapedal robot capable of running at 14 body lengths per second and performing dynamic turning maneuvers. Our design relies on parallel kinematic mechanisms fabricated using the scaled smart composite microstructures (SCM) process and viscoelastic polymer legs with tunable stiffness. In addition to the novel robot design, we present experimental validation of the lateral leg spring (LLS) locomotion model's prediction that dynamic turning can be achieved by modulating leg stiffness. Finally, we present and validate a leg design for active stiffness control using shape memory alloy and demonstrate the ability of the robot to execute near-gymnastic 90 • turns in the span of five strides.

show abstract

The latest generation Whegs™ robot features a passive-compliant body joint

Cited by 31 publications

References 5 publications

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

The role of morphological computation of the goat hoof in slip reduction

Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot

Contact Info

Product

Resources

About