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Experimental Validation of a Template for Navigation of Miniature Legged Robots [chapter]

Konstantinos Karydis, Adam Stager, Herbert G. Tanner, Ioannis Poulakakis
2017 Springer Proceedings in Advanced Robotics  
The evidence suggests that the SFM is suitable for capturing salient motion behaviors-or motion primitives-for multiple, morphologically distinct miniature legged robots.  ...  holds for the left pair by replacing indices 1 and 2 with indices 3 and 4, respectively.  ...  Developing the domain of navigation and control for miniature legged robots is important, given the potential of these robots.  ... 
doi:10.1007/978-3-319-50115-4_37 dblp:conf/iser/KarydisSTP16 fatcat:7d7x2uyw45eqxeed22imsx2vdq

A Navigation and Control Strategy for Miniature Legged Robots

Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
2017 IEEE Transactions on robotics  
The paper reports on a model-based control strategy for miniature legged robots tasked with navigation in cluttered environments.  ...  Index Terms-Miniature legged robots; Small-scale navigation and control.  ...  The two pairs are active in turns, while the tips of the active legs form hinged joints with the ground-see Fig. 2 (b)during each step.  ... 
doi:10.1109/tro.2016.2623343 fatcat:q75ztmgs6jdo5icnt6jn3h475a

Design and operation of MinIAQ: An untethered foldable miniature quadruped with individually actuated legs

Cem Karakadioglu, Mohammad Askari, Onur Ozcan
2017 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)  
Each leg is actuated and controlled individually by separate DC motors enabling gait modification and higher degree of freedom on controlling the motion.  ...  This paper presents the design, development, and basic operation of MinIAQ, an origami-inspired, foldable, untethered, miniature quadruped robot.  ...  This work is funded by the Scientific and Technological Research Council of Turkey (TÜBİTAK) grant no. 115C107.  ... 
doi:10.1109/aim.2017.8014025 dblp:conf/aimech/KarakadiogluAO17 fatcat:a2svbmnblbh7xky6h3jxzhgvia

A template candidate for miniature legged robots in quasi-static motion

Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner
2014 Autonomous Robots  
This work represents a first step toward a template that captures critical aspects of the kinematic behavior of miniature legged robots implementing quasi-static gaits.  ...  Such template can be used as a tool to facilitate motion planning tasks with such robots.  ...  The data is obtained with the use of a motion capture system at a rate of 100 Hz, and is written to text files at a rate of 20 Hz.  ... 
doi:10.1007/s10514-014-9401-4 fatcat:67vdyuyknzeypbrrln2jbpjwou

Miniature Modular Legged Robot with Compliant Backbones

Nima Mahkam, Alihan Bakir, Onur Ozcan
2020 IEEE Robotics and Automation Letters  
Soft Modular Legged Robot (SMoLBot) is a miniature, foldable, modular, soft-hybrid legged robot with compliant backbones.  ...  Moreover, the possibility of changing the structural stiffness of the robot with different backbones enables such a compliant modular robot to be used for locomotion optimization studies in miniature scale  ...  ACKNOWLEDGMENT The authors would like to thank Ömer Başar Özgüven, Talip Batuhan Yılmaz, Mohammad Askari and members of Bilkent Miniature Robotics Laboratory for their invaluable assistance throughout  ... 
doi:10.1109/lra.2020.2982362 fatcat:fgjshgsklbd27macyojgb7pyxe

C-Quad: A miniature, foldable quadruped with C-shaped compliant legs

Ahmet Furkan Guc, Mert Ali Ihsan Kalin, Cem Karakadioglu, Onur Ozcan
2017 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
The compliant legs enable the miniature robot to run fast and scale obstacles with ease due to the geometry of the legs.  ...  All of its legs are actuated individually with a total of four DC motors.  ...  This work is funded by the Scientific and Technological Research Council of Turkey (TÜBİTAK) grant no. 115C107.  ... 
doi:10.1109/robio.2017.8324389 dblp:conf/robio/GucKKO17 fatcat:k6epdtusc5hcfg4lns76didjki

MinIAQ-II: A miniature foldable quadruped with an improved leg mechanism

Mohammad Askari, Cem Karakadioglu, Furkan Ayhan, Onur Ozcan
2017 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
The independent actuation and control over each leg enables such a robot to be used for gait studies in miniature scale, as is the next direction in our research.  ...  Origami has long been renowned as a simple yet creative form of art and its folding techniques have recently inspired advances in design and fabrication of miniature robots.  ...  ACKNOWLEDGMENTS The authors would like to thank members of Bilkent Miniature Robotics Laboratory for their invaluable assistance throughout this project.  ... 
doi:10.1109/robio.2017.8324388 dblp:conf/robio/AskariKAO17 fatcat:afo3mdo2ubbpths37pejnivpja

Planning with the STAR(s)

Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald S. Fearing, Herbert G. Tanner
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The reported results provide a first glimpse on the capabilities of this novel, 3Dprinted robot in performing autonomously non-trivial motion planning tasks in environments populated with obstacles.  ...  We present our findings on the first application of motion planning methodologies to the recently introduced Sprawl Tuned Autonomous Robot (STAR).  ...  This way, STAR is able to achieve high-speed horizontal motion, and high maneuverability with low control actuation, thus extending battery life. A.  ... 
doi:10.1109/iros.2014.6942981 dblp:conf/iros/KarydisZPFT14 fatcat:s7a7jvjx75dafewapzssz3zt34

CPU-less robotics: distributed control of biomorphs

Ralph Etienne-Cummings, M. Anthony Lewis, Mitra Hartmann, Avis H. Cohen, Sunny Bains, Leo J. Irakliotis
2000 Critical Technologies for the Future of Computing  
Recently, the availability of fast CPUs have made real-time sensory-motor control possible, however, problems with high power consumption and lack of autonomy still remain.  ...  In fact, the best examples of real-time robotics are usually tethered or require large batteries. We present a new paradigm for robotics control that uses no explicit CPU.  ...  ACKNOWLEDGEMENTS The authors acknowledge support of Grant No. N00014-99-0984 from ONR to Lewis & Etienne-Cumnungs, NSF Career Grant #9896362 to Etienne-Cummings and NIH grant MH44809 to Cohen.  ... 
doi:10.1117/12.409207 fatcat:gmfjkjcxxfaw5fu42x5secamuq

Design, Fabrication, and Locomotion Analysis of an Untethered Miniature Soft Quadruped, SQuad

Mert Ali Ihsan Kalin, Cem Aygul, Altay Turkmen, Joanna Kwiczak-Yigitbasi, Bilge Baytekin, Onur Ozcan
2020 IEEE Robotics and Automation Letters  
The miniature and untethered robot in this work is fully made out of soft structural materials and uses a flexible circuit board.  ...  Its soft legs, body, and circuit enables it to overcome obstacles that conventional hard miniature robots tend to be stopped by.  ...  ACKNOWLEDGMENT The authors would like to thank members of Bilkent Miniature Robotics Laboratory for their invaluable assistance throughout this project, especially Mohammad Askari for his contribution  ... 
doi:10.1109/lra.2020.2982354 fatcat:vufkqpxjzjc25luxt37k7m2zg4

Fundamental Principles and Issues of High-speed Piezoactuated Three-legged Motion for Miniature Robots Designed for Nanometer-scale Operations

Sylvain Martel
2005 The international journal of robotics research  
One of the important aspects in the development of high-throughput platforms based on a fleet of scientific instruments in the form of miniature wireless robots designed for fast operations at the nanometer-scale  ...  implementation of such a system.  ...  Council of Canada (NSERC), Gouvernement du Québec, and the Canada Foundation for Innovation (CFI).  ... 
doi:10.1177/0278364905055594 fatcat:5dz4l7qv75ad3k7vorygf4fjhu

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  ...  In repeated tests, the robot is shown to be capable of tracking towards a simulated male cricket song over natural terrain.  ...  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

A common interface for humanoid simulation and hardware

Robert Ellenberg, Robert Sherbert, Paul Y. Oh, Alex Alspach, Roy J. Gross, JunHo Oh
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
By developing standardized protocols for motors and sensors, a software controller can communicate with both platforms using the same interface.  ...  Humanoid robotics development often depends on simulation and prototypes for new walking algorithms.  ...  Our initial strategy designs out the problem with a slower walk and lower posture to improve stability. One walking cycle consists of a pair of steps of arbitrary length.  ... 
doi:10.1109/ichr.2010.5686325 dblp:conf/humanoids/EllenbergSOAGO10 fatcat:wblmanybevczzkfr7lmolivyge

Pop-up assembly of a quadrupedal ambulatory MicroRobot

Andrew T. Baisch, Robert J. Wood
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Additionally, locomotion performance is compared to a handassembled quadruped with similar design parameters.  ...  Here we present the design of a 1.27g quadrupedal microrobot manufactured using "Pop-up book MEMS"; the first such device capable of locomotion.  ...  Author Andrew Baisch would like to thank the Department of Defense for their support through the National Defense Science & Engineering Graduate Fellowship (NDSEG) program.  ... 
doi:10.1109/iros.2013.6696550 dblp:conf/iros/BaischW13 fatcat:lzt5cbch6nfzhihwdjqckcuwou

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Xiaojuan Mo, Wenjie Ge, Marco Miraglia, Francesco Inglese, Donglai Zhao, Cesare Stefanini, Donato Romano
2020 Applied Sciences  
Based on this, the developmental trends of bioinspired jumping robots are predicted.  ...  In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10238607 fatcat:ajfztjqtbjdmhkbirs5sltgioi
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