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Comparing cockroach and Whegs robot body motions

R.T. Schroer, M.J. Boggess, R.J. Bachmann, R.D. Quinn, R.E. Ritzmann
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
High speed video analysis of walking cockroaches and Whegs VP illustrates that Whegs VP walks with cockroach-like body motions.  ...  One such hexapod robot is Whegs VP, which achieves a cockroach-like nominal tripod gait using only a single DC motor.  ...  Whegs Body Motion Robot body motions were captured in a similar manner as the cockroach.  ... 
doi:10.1109/robot.2004.1308761 dblp:conf/icra/SchroerBBQR04 fatcat:7bom4ray7bdrxmxdaapysbvuai

Parallel Complementary Strategies for Implementing Biological Principles into Mobile Robots

Roger D. Quinn, Gabriel M. Nelson, Richard J. Bachmann, Daniel A. Kingsley, John T. Offi, Thomas J. Allen, Roy E. Ritzmann
2003 The international journal of robotics research  
In one, we have produced a series of robots that have mechanical and control designs increasingly more similar to those of a cockroach.  ...  The leg designs of these robots ensure that they can generate movements used by the cockroach to walk and climb over a range of objects.  ...  Acknowledgments This work was supported by the Office of Naval Research (N0014-99-1-0378), DARPA (DAAN02-98-C-4027), JPL and the Air Force (F08630-01-C-0023).  ... 
doi:10.1177/0278364903022003003 fatcat:gljv5a6i6vazdlh4f7zufnjew4

Mechanized cockroach footpaths enable cockroach-like mobility

M.J. Boggess, R.T. Schroer, R.D. Quinn, R.E. Ritzmann
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Implementing cockroach footpaths using simple leg mechanisms results in cockroach-like body motion in a hexapod robot called "MechaRoach."  ...  High speed video analysis of walking cockroaches and MechaRoach indicates that MechaRoach exhibits body motion during walking that is very similar to the cockroach.  ...  The Whegs series of robots have been shown to run at 3 body lengths per second and climb obstacles over 1.5 times their hip height.  ... 
doi:10.1109/robot.2004.1307496 dblp:conf/icra/BoggessSQR04 fatcat:g4hrkxwj5rewfi4k52xctmqgnm

Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots

Roy E. Ritzmann, Roger D. Quinn, Martin S. Fischer
2004 Arthropod structure & development  
They are leg specialization, body flexion and the development of a complex head structure.  ...  Although these properties are commonly seen in legged animals, most robotic vehicles have similar legs throughout, rigid bodies and rudimentary sensors on what would be considered the head region.  ...  Acknowledgements Work discussed here was supported by grants from Eglin AFB (F32-NS43004-01 and F08630-03-1-0003) (RER and RDQ), NSF IGERT grant DGE-9972747.  ... 
doi:10.1016/j.asd.2004.05.001 pmid:18089044 fatcat:riwfq4vgibdmpn2xqywbcwkbge

Bionic Limb Mechanism and Multi-Sensing Control for Cockroach Robots [chapter]

Weihai Chen, XiaoQi Chen, Jingmeng Liu, Jianbin Zhang
2009 Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions  
Whegs II can bend its body to have better movement agility than Whegs I. Whegs III's structure has the feature of micro motion and it has only four tri-spokes instead of six.  ...  Its main improvement is that its tri-spoke structure has flexibility and compliance, which benefits transversal motion. Whegs I Whegs II Whegs III Whegs IV Fig. 3 .  ... 
doi:10.5772/6990 fatcat:t64jwp5esvb7jhf2ied2krw37i

Animal-Inspired Sensing for Autonomously Climbing or Avoiding Obstacles

William A. Lewinger, Cynthia M. Harley, Michael S. Watson, Michael S. Branicky, Roy E. Ritzmann, Roger D. Quinn
2009 Applied Bionics and Biomechanics  
While methods of locomotion allow robots to move through their environment, the addition of sensing, perception and decision making are necessary to perform this task with autonomy.  ...  robot to make insect-inspired decisions when encountering a shelflike obstacle, navigating a cluttered environment without collision and seeking vision-based goals while avoiding obstacles.  ...  and grant F08630-03-1-0003 and the NASA Langley Research Center under grant NNL06AA19G.  ... 
doi:10.1155/2009/280968 fatcat:nry2ob6fnbd2nkzldzerhgz63i

DASH: A dynamic 16g hexapedal robot

P. Birkmeyer, K. Peterson, R. S. Fearing
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second (see video).  ...  Drawing inspiration from biomechanics, DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion.  ...  This work is supported by the NSF Center of Integrated Nanomechanical Systems and the United States Army Research Laboratory under the Micro Autonomous Science and Technology Collaborative Technology Alliance  ... 
doi:10.1109/iros.2009.5354561 dblp:conf/iros/BirkmeyerPF09 fatcat:geryjh6ol5fcnjc65lvfiqhhka

Robot phonotaxis in the wild: a biologically inspired approach to outdoor sound localization

Andrew D. Horchler, Richard E. Reeve, Barbara Webb, Roger D. Quinn
2004 Advanced Robotics  
This required the integration of a novel robot morphology -Whegs -with a biologically-based auditory processing circuit and neural control system, as well as interfacing this to a new tracking device and  ...  Cricket phonotaxis (sound localization behavior) was implemented on an autonomous outdoor robot platform inspired by cockroach locomotion.  ...  Robert MacGregor at the University of Edinburgh designed and built the tether boxes and robot interface circuitry. Thanks also to Darren Smith for help in running the outdoor experiments.  ... 
doi:10.1163/1568553041738095 fatcat:uovxzfhi3reuvlrne3fuzaxxt4

Design and validation of a Whegs robot in USARSim

B. K. Taylor, S. Balakirsky, E. Messina, R. D. Quinn
2007 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems - PerMIS '07  
This paper describes a Whegs robot model that was designed and added to USARSim's current array of robots.  ...  Simulation of robots and other vehicles in a virtual domain has multiple benefits.  ...  ACKNOWLEDGEMENTS We would like to thank Ben Balaguer and Richard Bachmann for their contributions in developing this work.  ... 
doi:10.1145/1660877.1660891 fatcat:qbpia5f5u5cv5jw4nszyh5xqxu

Descending control of body attitude in the cockroach Blaberus discoidalis and its role in incline climbing

Roy E. Ritzmann, Alan J. Pollack, Jeffrey Archinal, Angela L. Ridgel, Roger D. Quinn
2004 Journal of Comparative Physiology A. Sensory, neural, and behavioral physiology  
Cockroaches with bilateral circumoesophageal connective lesions fail to perform this downward flexion. A beneficial role for similar body flexion in simple robots is described in the Discussion.  ...  We conclude that circumoesophageal lesion compromises the insect's ability to control body attitude on the incline and this deficit contributes to the inability of lesioned cockroaches to climb steep inclines  ...  We thank David Howard for contributions to studies of body flexion on steps.  ... 
doi:10.1007/s00359-004-0537-0 pmid:15309482 fatcat:cdvdtbvpnbhz5fmbokt6a4d4ii

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
adaptability compared to previous Whegs series.  ...  The main characteristic of Wheg-II is that it uses a body flexion join that gives the capability of implementing cockroach functionality of bending part of the body during obstacle climbing [53] .  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye

Bio-Inspired Robotic Solutions for Landslide Monitoring

Luca Patané
2019 Energies  
The design process of the robotic system, including dynamic simulations and robot experiments, will be presented here.  ...  In the field of robotics, when we need to design systems able to perform in unstructured environments, bio-inspiration can be a useful instrument both for mechanical design and for the control architecture  ...  Acknowledgments: The author acknowledges the support of Paolo Arena for his helpful discussions and S. Taffara for his contribution to the dynamic simulation of the robot.  ... 
doi:10.3390/en12071256 fatcat:g3ziy3bffndd7m2t2nquzq2rni

Design, construction, and testing of a new class of mobile robots for cave exploration

Ivan Siles, Ian D. Walker
2009 2009 IEEE International Conference on Mechatronics  
The key innovation is the combination of highly maneuverable body elements with wheel/leg elements ("whegs").  ...  The paper covers two design ite rations of the concept, concentrating on describing the over all design process and results from initial tests.  ...  Our underlying design concept is a flexible body and novel propulsion based on the whegs concept.  ... 
doi:10.1109/icmech.2009.4957126 fatcat:sor5gs2finhmbjammxq4fb4um4

Epi.q Robots [chapter]

Giuseppe Quaglia, Riccardo Oderio, Luca Bruzzone, Roberto Razzoli
2011 Mobile Robots - Current Trends  
The Whegs were designed using abstracted principles of cockroach locomotion. A cockroach has six legs, which support and move its body.  ...  It is most similar in design to Whegs II, but lacks the body flexion joint. It combines the simplicity and agility of Whegs I with the durability and robustness of Whegs II.  ... 
doi:10.5772/27050 fatcat:f4i5ch3cpzdvthq3gxbqywjxxi

A body joint improves vertical to horizontal transitions of a wall-climbing robot

Kathryn A. Daltorio, Timothy C. Witushynsky, Gregory D. Wile, Luther R. Palmer, Anas Ab Malek, Mohd Rasyid Ahmad, Lori Southard, Stanislav N. Gorb, Roy E. Ritzmann, Roger D. Quinn
2008 2008 IEEE International Conference on Robotics and Automation  
It is known that cockroaches bend their body to accomplish such transitions. This concept has been simplified to a single-axis body joint which allows ground-walking robots to cross uneven terrain.  ...  In this work, we examine the effect of a body joint on wall-climbing vehicles using both a kinematic simulation and two prototype Climbing Mini-Whegs™ robots.  ...  ACKNOWLEDGMENT The authors would like to thank the members of the Bio-Robotics Team Research Spring 2006 Class.  ... 
doi:10.1109/robot.2008.4543673 dblp:conf/icra/DaltorioWWPMASGRQ08 fatcat:ypmvb3cog5elxodwf7tgvrntba
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