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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
2020
Heliyon
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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]
2021
bioRxiv
pre-print
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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
2011
2011 IEEE International Conference on Robotics and Automation
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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
2013
Research Journal of Applied Sciences Engineering and Technology
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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
2009
2009 IEEE International Conference on Robotics and Automation
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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
2017
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
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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
2018
Journal of Experimental Biology
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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
2012
International Journal of Advanced Robotic Systems
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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
2009
The international journal of robotics research
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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
2013
IEEE/ASME transactions on mechatronics
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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
2010
Robotics: Science and Systems VI
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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
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2009
IEEE spectrum
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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
2021
IEEE Access
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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
2014
Science
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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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