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Dynamic turning of 13 cm robot comparing tail and differential drive

A.O. Pullin, N.J. Kohut, D. Zarrouk, R. S. Fearing
2012 2012 IEEE International Conference on Robotics and Automation  
Here we introduce a 100 mm scale dynamic robot -OctoRoACHwith differential-drive steering and a low-mass tail to investigate issues of yaw rate control.  ...  Using a modified off-the-shelf servo for the tail drive, the robot responds to turning commands at 4 Hz and up to 400 • /sec.  ...  ACKNOWLEDGEMENTS We thank Aaron Hoover for use of the DynaRoACH design, Stan Baek for the ImageProc CPU board, Jaakko Karras and Kevin Peterson for comments on the manuscript, Paul Samuel for transmissions  ... 
doi:10.1109/icra.2012.6225261 dblp:conf/icra/PullinKZF12 fatcat:5tmxh6wvgvajnm4wd4mjqg5cpm

Terrestrial and Underwater Locomotion Control for a Biomimetic Amphibious Robot Capable of Multimode Motion [chapter]

Junzhi Yu, Qinghai Yang, Rui Ding, Min T
2010 Motion Control  
Further, there are many application-specific robots being developed and used today across a wide variety of domains.  ...  the running state of built-in components.  ...  /terrestrial-andunderwater-locomotion-control-for-a-biomimetic-amphibious-robot-capable-of-multimode  ... 
doi:10.5772/6965 fatcat:byh32mpkpbhbhl4yv77lvaki2m

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Alexander S. Boxerbaum, Matthew A. Klein, Jeffery E. Kline, Stuart C. Burgess, Roger D. Quinn, Richard Harkins, Ravi Vaidyanathan
2012 Journal of Robotics and Mechatronics  
We specifically report a new design fusing a range of insectinspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse a range of challenging substrates  ...  both in and out of the water, and the design and construction of SeaDog, a proof-of-concept amphibious robot built for navigating rocky or sandy beaches and turbulent surf zones.  ...  Clifford Whitcomb and the Department of Systems Engineering, the Center for Robotics and Unmanned Systems Education and Research (CRUSER), and the Office of Research at the US Naval Postgraduate School  ... 
doi:10.20965/jrm.2012.p0629 fatcat:b4nommkkincfzot3tc7r5uyc7q

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  
To correct this, a circular tail which can negate the pitch moment around the center of mass is proposed. Both passive and active tail designs which can cope with disturbances are introduced.  ...  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.  ...  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  
This paper first reports a brief survey of recent studies on bioinspired mechatronic systems and their biological counterparts in respects of locomotion, actuation, sensing, and control.  ...  Understanding and adapting the underlying principles of biological systems to engineering systems have the promise of enabling many new mechatronic systems that can operate in unstructured and uncertain  ...  Bio-inspired climbing and water running robotic platforms also used an active or passive tail to stabilize their locomotion in the pitch direction [71] , [72] .  ... 
doi:10.1109/tmech.2012.2233492 fatcat:fdi73scdcjh5bmklmwmv4y6kyu

Design and prototype of mobile robots for rescue operations

E. Faruk Kececi
2008 Robotica (Cambridge. Print)  
This study concerns the design and prototype of four different mobile robot platforms for rescue robot operations after an earthquake.  ...  The test field consists of eight different sections: sand, gravel, ditch, water, bridge, incline, decline, and turn.  ...  Acknowledgments The author would like to thank the class of 2005 from the Department of Mechanical Engineering of Izmir Institute of Technology for their help and hard work in making these prototypes possible  ... 
doi:10.1017/s0263574708005109 fatcat:yyhpjndo5jfkbmgvghv2plkqdm

Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020 Frontiers in Robotics and AI  
Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot  ...  Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees  ...  ACKNOWLEDGMENTS We thank our many collaborators on everting vine robot research for discussions related to the topics presented here.  ... 
doi:10.3389/frobt.2020.548266 pmid:33501315 pmcid:PMC7805729 fatcat:7wosgy37bve7vhegpkbkczjjvi

A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots [article]

Sang-Goo Jeong, Margaret M. Coad, Laura H. Blumenschein, Ming Luo, Usman Mehmood, Ji Hun Kim, Allison M. Okamura, Jee-Hwan Ryu
2020 arXiv   pre-print
Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly enhance the usefulness of these robots for exploration in the field.  ...  In this paper, we analyze previous designs for mounting to the tip of soft growing robots, and we present a novel device that successfully remains attached to the robot tip while providing a mounting point  ...  This research was partially supported by the project "Toward the Next Generation of Robotic Humanitarian Assistance and Disaster Relief: Fundamental Enabling Technologies (10069072)," the National Science  ... 
arXiv:1912.08297v3 fatcat:imsm4kmvxbafnmhwnqmdhfpqcq

Hydraulic Autonomous Soft Robotic Fish for 3D Swimming [chapter]

Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus
2015 Springer Tracts in Advanced Robotics  
Moreover, a new closed-circuit drive system that uses water as a transmission fluid is used to actuate the soft body.  ...  This work presents an autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions.  ...  The propulsive and steering actuation of the deformable body is driven by a novel closed-circulation water system.  ... 
doi:10.1007/978-3-319-23778-7_27 fatcat:glpuuodubnazffwtjrkmrgzckm

Microstructured Polymer Adhesive Feet for Climbing Robots

Kathryn A. Daltorio, Stanislav Gorb, Andrei Peressadko, Andrew D. Horchler, Terence E. Wei, Roy E. Ritzmann, Roger D. Quinn
2007 MRS bulletin  
After the addition of a tail and widening the feet, the robot is capable of ascending vertical smooth glass surfaces using the structured polymer adhesive.  ...  Mini-Whegs™, a small robot that uses four wheel-legs for locomotion, was converted to a wall-walking robot with compliant, adhesive feet. First, the robot was tested with conventional adhesive feet.  ...  Air Force contract F08630-03-1-0003, and the Federal Ministry of Research of Education Germany (BMBF) InspiRat grant 01RI0633.  ... 
doi:10.1557/mrs2007.85 fatcat:ha2nhmsjlrg6xfgg4mwde5didm

An Underwater Glider with Muscle—Actuated Buoyancy Control and Caudal Fin Turning

Biao Wang, Yishan Chen, Yige Wu, Yi Lin, Sijie Peng, Xiaohan Liu, Shijian Wu, Sicong Liu, Juan Yi, Panagiotis Polygerinos, Zheng Wang
2022 Machines  
In this work, an innovative underwater glider robot is developed, enabling maneuverability through the introduction of an efficiently actuated caudal fin with bidirectional turning capabilities.  ...  The design concept, modeling of key components, and framework for control are presented, with the prototyped glider tested in a series of bench and field trials for validation of its motion performance  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/machines10050381 fatcat:hxea4gcmdbep3deisrfkdlttxu

Robotic tails: a state-of-the-art review

Wael Saab, William S. Rone, Pinhas Ben-Tzvi
2018 Robotica (Cambridge. Print)  
This paper discusses relevant research in design, modeling, analysis and implementation of robotic tails onto mobile robots, and highlight how this work is being used to build robotic systems with enhanced  ...  Inspired by biological tails observed in nature, robotic tails provide a separate means to enhance stabilization, and maneuverability from the mobile robot's main form of locomotion, such as legs or wheels  ...  adjustments using an active tail.  ... 
doi:10.1017/s0263574718000425 fatcat:4s7vq6k3gzh2li52iy6wls4d7y

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

Alessandro Crespi, Konstantinos Karakasiliotis, Andre Guignard, Auke Jan Ijspeert
2013 IEEE Transactions on robotics  
The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on ground.  ...  The paper first presents the new robot hardware design, which is an improved version of Salamandra robotica I.  ...  The x i , represents the output of the oscillator after the application of an offset X, used to steer the robot.  ... 
doi:10.1109/tro.2012.2234311 fatcat:lpknj5g7ive6tfm7qsqt3yb3m4

The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin

Zhibin Xue, Liangliang Li, Yixiao Song, Francesca Cordella
2021 Applied Bionics and Biomechanics  
Furthermore, a combined strategy of environment recognition was used for the positional control of the robotic dolphin, incorporating sonar, path planning with an artificial potential field, and trajectory  ...  with effective fuzzy rules, and a sliding mode of control.  ...  inertial force of C-type steering, and K cZ is the generalized active force of C-type steering.  ... 
doi:10.1155/2021/4203914 pmid:35003330 pmcid:PMC8731303 fatcat:mtllthrswnabze6iju4v4onqju

Stability and manoeuvrability in animal movement: lessons from biology, modelling and robotics

Andrew A. Biewener, Richard J. Bomphrey, Monica A. Daley, Auke J. Ijspeert
2022 Proceedings of the Royal Society of London. Biological Sciences  
the efficacy and performance of their use of an assistive device.  ...  In 'Tuna robotics: hydrodynamics of rapid linear accelerations', Thandiackal et al. [4] sidestepped behavioural variation by using an innovative robotic platform: Tunabot Flex.  ... 
doi:10.1098/rspb.2021.2492 pmid:35042414 pmcid:PMC8767207 fatcat:6ecpzgu3u5hjvcsqldlc6pqhea
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