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Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers

A.J.R. Lopez-Arreguin, S. Montenegro
2020 Heliyon  
Even in typical wheeled robots the slip and sinkage increase with time, the new design intends to imitate traversability capabilities of SLs, that seem to keep the same slip while displacing at subsurface  ...  Later, a rigid wheel design has been proposed to imitate SLs locomotion capabilities.  ...  inspired by SL undulatory motion.  ... 
doi:10.1016/j.heliyon.2020.e04148 pmid:32613101 pmcid:PMC7317692 fatcat:dkombnwlpvbo3fgdq7ni2jpyae

Using a biologically mimicking climbing robot to explore the performance landscape of climbing in lizards [article]

Johanna T Schultz, Hendrik K Beck, Tina Haagensen, Tasmin Proost, Christofer J Clemente
2021 bioRxiv   pre-print
This design allows us to independently vary speed, foot angles, and range of motion, while simultaneously collecting data on climbed distance, stability and efficiency.  ...  This approach can give us a better understanding about locomotor optimization, and provide inspiration for industrial and search-and-rescue robots.  ...  (b) Transfer of the derived design criteria. 567 We developed a bio-inspired robot that mimics the lizards' climbing locomotion and 568 the basic morphology with 10 DOF together with sensors to measure  ... 
doi:10.1101/2021.01.12.426469 fatcat:5aacenriobdszocvyclx7kxwre

Granular lift forces predict vertical motion of a sand-swimming robot

Ryan D. Maladen, Paul B. Umbanhowar, Yang Ding, Andrew Masse, Daniel I. Goldman
2011 2011 IEEE International Conference on Robotics and Automation  
Previously we modeled the undulatory subsurface locomotion of the sandfish lizard with a sand-swimming robot which displayed performance comparable to the organism.  ...  Testing the robot with these wedges as heads results in vertical motion in the same direction as the lift force in the drag experiments.  ...  Design overview and methods The body of the sand-swimming robot (adapted from previously developed snake robots [29] ) consists of single axis motors oriented to allow angular excursions in the body plane  ... 
doi:10.1109/icra.2011.5980301 dblp:conf/icra/MaladenUDMG11 fatcat:aohswbogpzbchbd5dz6k6v64p4

Amphibious Study on a Basilisk Lizard Inspired Robot

Jinjun Rao, Shuwen Cai, Fulong Xiao, Junxing Feng
2013 Research Journal of Applied Sciences Engineering and Technology  
Functionally, the robot uses four bar mechanism as its driving leg with a self-adaptive foot added to its end.  ...  This study describes the amphibious study of a novel robot, which attempts to emulate the basilisk lizard's ability to run on the surface of water and walk on land.  ...  Fund of Shanghai University (No.  ... 
doi:10.19026/rjaset.5.4582 fatcat:hzyulnf6w5cyfezdexrpirsqpm

Dynamic modeling and analysis of pitch motion of a basilisk lizard inspired quadruped robot running on water

Hyun Soo Park, S. Floyd, M. Sitti
2009 2009 IEEE International Conference on Robotics and Automation  
A quadrupedal robot inspired by the basilisk lizard was developed and modeled with a 3-D real time simulation.  ...  It is further shown that an active tail can compensate for disturbances and correct any drift in the robot body pitch angle due to changes in robot running speed.  ...  Fig. 1 . 1 Photograph of the four-legged robot inspired by basilisk lizards. Fig. 2 . 2 Geometry and dimensions of the robot: Lengths of the four bar linkage is presented in TABLE I.  ... 
doi:10.1109/robot.2009.5152556 dblp:conf/icra/ParkFS09 fatcat:kgfbpxlgsbemtl56zzdwiok644

Soft-amphibious robot using thin and soft McKibben actuator

A. A. M. Faudzi, M. R. M. Razif, G. Endo, H. Nabae, K. Suzumori
2017 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)  
The elastic deformation of the plastic plate actuated by the actuators assist in the side-to-side motion of the robot mimicking the gait of the biological creature like lizard/salamander during walking  ...  Then, four actuators are arranged in parallel and fixed with a thin plastic plate in between the actuators for the body motion.  ...  The combination of body motion and one DoF leg movement is able to mimic the lizard/salamander locomotion.  ... 
doi:10.1109/aim.2017.8014146 dblp:conf/aimech/FaudziRENS17 fatcat:6xx4bjdf5bb3rdrkfriiag4uqu

Lizards assess complex social signals by lateralizing colour but not motion detection

Anuradha Batabyal, Maria Thaker
2018 Journal of Experimental Biology  
Here, we examined laterality in lizard responses to determine whether receivers separate the processing of motion and colour signal components in different brain hemispheres.  ...  We tested the visual grasp reflex of both sexes using robotic stimuli that mimicked two signal components: (1) multiple speeds of head-bobbing behaviour and (2) multiple colours.  ...  Acknowledgements We would like to thank Saul Nava for inspiring us to use robotic lizard models and Amitabh Shrivastava for helping us build the robotic models.  ... 
doi:10.1242/jeb.173252 pmid:29361602 fatcat:rlxihqly6nc55nl7kcshlzyk34

Robot-Crawler: Statically Balanced Gaits

S. Parasuraman, F. J. Hang, M. K. A. Ahamed Khan
2012 International Journal of Advanced Robotic Systems  
The stability of the robot depends on how the legs are positioned relative to the body and also on the sequence and timing with which the legs are lifted and placed.  ...  This paper presents a new statically balanced walking technique for a robot-crawler. The gait design and the control of the robot crawler aim to achieve stability while walking.  ...  The study of biomechanics of a lizard has led to the forward movement gait design that mimics the movement of a lizard.  ... 
doi:10.5772/53623 fatcat:6tkhe3zgkfcitk7d7psayftduq

Roll and Pitch Motion Analysis of a Biologically Inspired Quadruped Water Runner Robot

Hyun Soo Park, Steven Floyd, Metin Sitti
2009 The international journal of robotics research  
In this paper, the roll and pitch dynamics of a biologically inspired quadruped water runner robot are analyzed, and a stable robot design is proposed and tested.  ...  It is found that roll motion is more sensitive to disturbances when compared with the pitch direction. KEY WORDS-biologically inspired robots, quadruped robot, running on water, stability  ...  Acknowledgments The authors would like to thank Lee Weiss and the Pittsburgh Infrastructure Technology Alliance for use of the high-speed camera, and the NanoRobotics Laboratory members for all of their  ... 
doi:10.1177/0278364909354391 fatcat:j264qsyycjdw5p23zww5ybqlve

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Metin Sitti, Arianna Menciassi, Auke Jan Ijspeert, Kin Huat Low, Sangbae Kim
2013 IEEE/ASME transactions on mechatronics  
Finally, current challenges and future trends of bio-inspired mechatronic systems are described.  ...  Next, brief highlights of the 20 papers in this "Focused Section on Bio-Inspired Mechatronics" are given.  ...  First, design, actuation, and control of bio-inspired robotic mechanisms for high-speed locomotion with high maneuverability are very challenging such as in the case of flapping wing-based flight, high-speed  ... 
doi:10.1109/tmech.2012.2233492 fatcat:fdi73scdcjh5bmklmwmv4y6kyu

Biophysically inspired development of a sand-swimming robot

R. Maladen, Y. Ding, P. Umbanhowar, A. Kamor, D. Goldman
2010 Robotics: Science and Systems VI  
Inspired by this biological experiment and challenged by the absence of robotic devices with comparable subterranean locomotor abilities, we developed a numerical simulation of a robot swimming in a granular  ...  Previous study of a sand-swimming lizard, the sandfish, Scincus scincus, revealed that the animal swims within granular media at speeds up to 0.4 body-lengths/cycle using body undulation (approximately  ...  ACKNOWLEDGMENTS We thank Nick Gravish and Chen Li for help with the physics experiments, and we thank Daniel Cohen and Andrew Slatton for help with development of the numerical simulation.  ... 
doi:10.15607/rss.2010.vi.001 dblp:conf/rss/MaladenDUKG10 fatcat:n7yzihte7rfgxnwzovtom3ruta

A Novel Water Running Robot Inspired by Basilisk Lizards

Steven Floyd, Terence Keegan, John Palmisano, Metin Sitti
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The design of a biomimetic robot utilizing similar principles is discussed, modeled, and prototyped.  ...  This paper introduces a novel robot which can run on the surface of water in a manner similar to basilisk lizards.  ...  Tonia Hsieh for allowing us to reprint her figures, and Mike Murphy for all his help with the rapid prototyping machine.  ... 
doi:10.1109/iros.2006.282111 dblp:conf/iros/FloydKPS06 fatcat:plah6sxlt5cetl2nehzbt6wv3a

March of the sandbots

D. Goldman, H. Komsuoglu, D. Koditschek
2009 IEEE spectrum  
Also like RHex, it walks with an "alternating tripod" gait, inspired by insects.  ...  The next phase in legged robots was ushered in with the dynamically dexterous machines built by Marc Raibert at Carnegie Mellon University, in Pittsburgh, and later at MIT.  ... 
doi:10.1109/mspec.2009.4808384 fatcat:ozqfe6lsrbamzcbcxdeelcvt7q

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
inspired by the basilisk lizard that utilizes lift force instead of surface tension or buoyancy force to overcomes the weight of the body and propel it forward when the foot of the basilisk lizard splash  ...  Amphibians like salamanders and reptiles like basilisk lizards and crocodiles locomotion using legs laterally appended and elongated to the body for locomotion [26] . Auke et al.  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye

Biorobotics: Using robots to emulate and investigate agile locomotion

A. J. Ijspeert
2014 Science  
The goals of biorobotics are to take inspiration from biological principles to design robots that match the agility of animals, and to use robots as scientific tools to investigate animal adaptive behavior  ...  Their use may contribute to the design of prosthetic devices that more closely take human locomotion principles into account.  ...  Supported by the Swiss National Center of Competence in Research in Robotics, the Swiss National Science Foundation, the Swiss NanoTera program, the EU-funded WalkMan project (FP7-ICT 611832) and the EU-funded  ... 
doi:10.1126/science.1254486 pmid:25301621 fatcat:usabelljnbh2xphlqjrxwzmzsq
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