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ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT

Jakub Mrva, Martin Stejskal, Jan Faigl
2015 Acta Polytechnica CTU Proceedings  
In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots.  ...  This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria.  ...  When a leg slide sideways on a floating obstacle, a more momentum is created on the joints and thus more torque is needed to counteract this behavior.  ... 
doi:10.14311/app.2015.1.0034 fatcat:dtq2fzbw3jgjjm7oednpar56mu

THE TURTLE, A LEGGED SUBMERGED INSPECTION VEHICLE

JOHN BILLINGSLEY
2013 Nature-Inspired Mobile Robotics  
a planar model with three compliant and rolling leg Ya-Cheng Chou, Ke-Jung Huang, Wei-Shun Yu and Pei-Chun Lin F3.3 -Design of a reconfigurable wheelchair with a sit-tostand facility for a disabled kid  ...  Page Presentation 10.40 -11.00 27 443 A3.1 -Local reflex generation for obstacle negotiation in quadrupedal locomotion Michele Focchi, Victor Barasuol, Ioannis Havoutis, Jonas Buchli, Claudio  ... 
doi:10.1142/9789814525534_0058 fatcat:ccqdiuzjlfe5veqyiroumvf4le

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  
One particular family of robots that can benefit from simulation in the USARSim environment is the Whegs™ * series of robots developed in the Biologically Inspired Robotics Laboratory at Case Western Reserve  ...  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

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
[73] developed an active wheel leg robot with reinforcement learning.  ...  Furthermore, the epaddle mechanism is a reasonable possibility for obstacle negotiation.  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye

Fast, robust quadruped locomotion over challenging terrain

Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael Mistry, Stefan Schaal
2010 2010 IEEE International Conference on Robotics and Automation  
Point (ZMP) stability criterion, and (3) a floating-base inverse dynamics controller that, in conjunction with force control, allows for robust, compliant locomotion over unperceived obstacles.  ...  We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrain of varying difficulty levels.  ...  This research was supported in part by the DARPA program on Learning Locomotion, National Science Foundation grants ECS-0326095, IIS-0535282,CNS-0619937, IIS-0917318, CBET-0922784, EECS-0926052, the Okawa  ... 
doi:10.1109/robot.2010.5509805 dblp:conf/icra/KalakrishnanBPMS10 fatcat:4to5mguxkzbnhfkakon4y46zme

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.  ...  The only reason for developing legged robots is to have vehicles that can negotiate very complex terrain.  ... 
doi:10.1177/0278364903022003003 fatcat:gljv5a6i6vazdlh4f7zufnjew4

iCrawl: An Inchworm-Inspired Crawling Robot

Muhammad Bilal Khan, Thirawat Chuthong, Cao Danh Do, Mathias Thor, Peter Billeschou, Jorgen Christian Larsen, Poramate Manoonpong
2020 IEEE Access  
Both gaits were tested on the robot, eventually leading to it effectively crawling on the pipes and flat surfaces, climbing a metal wall and a pipe, and succeeding in obstacle avoidance during crawling  ...  The 5 DOF robot relies on two legs; each with an electromagnetic foot, in order to crawl on the metal pipe surfaces.  ...  for robot testing.  ... 
doi:10.1109/access.2020.3035871 fatcat:zbut2y2vtfdizc3ltwbpl2nhja

Intelligent legged climbing service robot for remote maintenance applications in hazardous environments

Bing L. Luk, David S. Cooke, Stuart Galt, Arthur A. Collie, Sheng Chen
2005 Robotics and Autonomous Systems  
Wheeled-tracked vehicles are mainly suitable for relatively flat terrain. Legged-vehicles, on the other hand, have the potential to handle wide variety of terrain.  ...  Robug IIs is a legged climbing robot designed to work in relatively unstructured and rough terrain.  ...  Neal Hewer for their help in developing some of the electronic circuitry.  ... 
doi:10.1016/j.robot.2005.06.004 fatcat:ckvh3lj4lzfvpp3ekouo7uq4qu

Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain

Chen Li, Andrew O Pullin, Duncan W Haldane, Han K Lam, Ronald S Fearing, Robert J Full
2015 Bioinspiration & Biomimetics  
Inspired by this discovery, we added a thin, rounded exoskeletal shell to a legged robot with a nearly cuboidal body, common to many existing terrestrial robots.  ...  Here, we challenged forest-floor-dwelling discoid cockroaches possessing a thin, rounded body to traverse tall, narrowly spaced, vertical, grass-like compliant beams.  ...  Author contributions: C L, R S F, and R J F conceived study; C L designed study, performed animal and robot experiments, analyzed data, and developed model; A O P and D W H constructed and supported robot  ... 
doi:10.1088/1748-3190/10/4/046003 pmid:26098002 fatcat:5ypc5ge7n5holpxhnywuh6cj6q

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  
We discuss what was learned about the auditory control circuit dealing with the outdoor sound stimulus, the need for a motor feedback mechanism to better regulate the drive signal, and plans for future  ...  software architecture for running robot experiments.  ...  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

Versatile modular neural locomotion control with fast learning [article]

Mathias Thor, Poramate Manoonpong
2021 arXiv   pre-print
Finally, the control approach was successfully demonstrated on a physical hexapod robot.  ...  Taken together, our study reveals a significant step towards fast automatic design of versatile neural locomotion control for complex robotic systems.  ...  The authors would also like to thank Anders Lyhne Christensen for fruitful discussions and detailed feedback  ... 
arXiv:2107.07844v1 fatcat:abwwlful7rhnzk6bzg5emcrfk4

Insect-Inspired Robots: Bridging Biological and Artificial Systems

Poramate Manoonpong, Luca Patanè, Xiaofeng Xiong, Ilya Brodoline, Julien Dupeyroux, Stéphane Viollet, Paolo Arena, Julien R. Serres
2021 Sensors  
Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs?  ...  After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level  ...  Acknowledgments: We thank Vincent Fourcassié and Pierre Moretto from CRCA UMR5163 (CNRS/ University of Toulouse 3), France, for their fruitful discussions concerning biological inputs in ants.  ... 
doi:10.3390/s21227609 pmid:34833685 pmcid:PMC8623770 fatcat:7gne3leewjhwhaqs4bcd5hmxjm

Autonomous legged hill and stairwell ascent

Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, D. E. Koditschek
2011 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics  
This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion  ...  Abstract -This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered  ...  The authors would like to thank David Hallac, Praveer Nidamaluri, Ryan Knopf, and the rest of the lab for their help while writing this paper.  ... 
doi:10.1109/ssrr.2011.6106785 fatcat:w3iep3pnmbcvzhyx6utgzwrv7y

Biologically inspired approaches to robotics: what can we learn from insects?

Randall D. Beer, Roger D. Quinn, Hillel J. Chiel, Roy E. Ritzmann
1997 Communications of the ACM  
In support of this new robot, we are currently engaged in detailed studies of the leg movements and muscle activations made by cockroaches negotiating a variety of obstacles.  ...  develop, to select the best leg geometry for a robot.  ...  To copy otherwise, to republish, to post on servers, or to redistribute to lists requires prior specific permission and/or a fee.  ... 
doi:10.1145/245108.245118 fatcat:nnhsiqufk5hgji3gmmn3na5oxu

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  
Rather one has to select the properties that are critical for specific behaviors that the engineer wants to capture in a particular robot.  ...  Their agility has not been lost on engineers seeking to design agile legged robots. However, one cannot simply copy mechanical and neural control systems from insects into robotic designs.  ...  Also, thanks to the Deutsche Forschungsgemeinschaft (DFG) for support in the Forschungsschwerpunkt 'Autonomes Laufen' (MSF).  ... 
doi:10.1016/j.asd.2004.05.001 pmid:18089044 fatcat:riwfq4vgibdmpn2xqywbcwkbge
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