Turning gaits and optimal undulatory gaits for a modular centipede-inspired millirobot

Hoffman, Katie L.; Wood, Robert J.

doi:10.1109/biorob.2012.6290288

Cited by 21 publications

(14 citation statements)

References 10 publications

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“…Here, r is the LHS of (9), and β and P are defined in [22] based on b and D. Given q k−1 , q k , u k−1 , and u k , (14) can be solved to find γ k , λ k , β k , ψ k , η k , and q k+1 .…”

Section: Contact Modelmentioning

confidence: 99%

“…The dynamics expressed in (14) are used as constraints in a direct trajectory optimization scheme. The trajectory optimization problem is posed as a standard nonlinear program (NLP) and solved using the constrained optimization solver SNOPT.…”

Section: Trajectory Optimizationmentioning

confidence: 99%

“…where J is a cost function, α is a positive scalar weighting parameter, f and g are the equality and inequality constraints in the relaxed version of (14) found in [22], and…”

Section: Trajectory Optimizationmentioning

confidence: 99%

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Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

Doshi

Jayaram

Goldberg

et al. 2018

Robotics: Science and Systems XIV

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Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often driven by time-consuming experimental methods. As an alternative, we present a framework for systematically modeling, planning, and controlling legged microrobots. We develop a threedimensional dynamic model of a 1.5 g quadrupedal microrobot with complexity (e.g., number of degrees of freedom) similar to larger-scale legged robots. We then adapt a recently developed variational contact-implicit trajectory optimization method to generate feasible whole-body locomotion plans for this microrobot, and we demonstrate that these plans can be tracked with simple joint-space controllers. We plan and execute periodic gaits at multiple stride frequencies and on various surfaces. These gaits achieve high per-cycle velocities, including a maximum of 10.87 mm/cycle, which is 15% faster than previously measured velocities for this microrobot. Furthermore, we plan and execute a vertical jump of 9.96 mm, which is 78% of the microrobot's center-of-mass height. To the best of our knowledge, this is the first end-to-end demonstration of planning and tracking whole-body dynamic locomotion on a millimeter-scale legged microrobot.

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Section: Contact Modelmentioning

confidence: 99%

Section: Trajectory Optimizationmentioning

confidence: 99%

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Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

Doshi

Jayaram

Goldberg

et al. 2018

Robotics: Science and Systems XIV

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“…However, RoACH's continued development occurred at a larger scale (10 g and above). Additionally, a centipede-inspired millirobot in the Harvard Microrobotics Lab has demonstrated remarkable capabilities such as obstacle traversal and robustness to missing limbs, and has elucidated some of the mechanisms behind locomotion in many-legged animals (Hoffman and Wood, 2012).…”

Section: Introductionmentioning

confidence: 99%

High speed locomotion for a quadrupedal microrobot

Baisch

Özcan

Goldberg

et al. 2014

The International Journal of Robotics Research

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132

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Research over the past several decades has elucidated some of the mechanisms behind high speed, highly efficient, and robust locomotion in insects such as cockroaches. Roboticists have used this information to create biologically inspired machines capable of running, jumping, and climbing robustly over a variety of terrains. To date, little work has been done to develop an at-scale insect-inspired robot capable of similar feats due to challenges in fabrication, actuation, and electronics integration for a centimeter-scale device. This paper addresses these challenges through the design, fabrication, and control of a 1.27 g walking robot, the Harvard Ambulatory MicroRobot (HAMR). The current design is manufactured using a method inspired by pop-up books that enables fast and repeatable assembly of the miniature walking robot. Methods to drive HAMR at low and high speeds are presented, resulting in speeds up to 0.44 m/s (10.1 body lengths per second) and the ability to maneuver and control the robot along desired trajectories.

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“…This kind of robot may use wheels for motion. Other interesting biologically inspired robot is centipede-like milli robot [8]. These kinds of robot's gaits are now one of the most interesting research topics.…”

Section: Introductionmentioning

confidence: 99%

Development of Path Planning Algorithm of Centipede Inspired Wheeled Robot in Presence of Static and Moving Obstacles Using ModifiedCritical-SnakeBug Algorithm

Das¹,

Dutta

Debnath

2019

IJ-AI

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<p>Path planning for a movable robot in real life situation has been widely cultivated and become research interest for last few decades. Biomimetic robots have increased attraction for their capability to develop various kind of walking in order to navigate in different environment. To meet this requirement of natural insect locomotion has enabled the development of composite tiny robots. Almost all insect-scale legged robots take motivation from stiff-body hexapods; though, a different distinctive organism we find in nature is centipede, distinguished by its numerous legs and pliable body. This uniqueness is anticipated to present performance benefits to build robot of the said type in terms of swiftness, steadiness, toughness, and adaptation ability.</p>This paper proposes a local path planning algorithm of multiple rake centipede inspired robot namely ModifiedCritical-SnakeBug(MCSB) algorithm. Algorithm tries to avoid static and dynamic obstacle both. The results demonstrate the capability of the algorithm.

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Turning gaits and optimal undulatory gaits for a modular centipede-inspired millirobot

Cited by 21 publications

References 10 publications

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

High speed locomotion for a quadrupedal microrobot

Development of Path Planning Algorithm of Centipede Inspired Wheeled Robot in Presence of Static and Moving Obstacles Using ModifiedCritical-SnakeBug Algorithm

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