Affiliation:
1. Department of Mechanical and Aerospace Engineering University of California San Diego La Jolla CA 92093 USA
Abstract
Small ground‐based robots show promise for locomotion on complex surfaces. A critical application area for such robots is movement over complex terrain and within constricted space such as narrow gaps in rubble. To contend with this terrain complexity, robots typically require high degree‐of‐freedom (DOF) limbs. However, for small robot platforms, this approach of high DOF legs is impractical due to actuator limitations. This presents an opportunity to design robots whose morphology enables the outsourcing of computational tasks to the robot body through the use of compliant elements (morphological computation). Herein, a novel robot appendage is developed that can passively compress in a programmed direction in response to environmental constrictions. A robot equipped with these appendages can enter narrow spaces down to 72% of the robot's sprawled body width as well as low ceilings down to 68% its freestanding height. The robot is able to step onto and over small terrain features ( hip height) and navigate various natural terrain types with ease. The results show that these compressible appendages enable versatile robot locomotion for robot exploration in previously unmapped environments.
Funder
Division of Integrative Organismal Systems
Reference41 articles.
1. RHex: A Simple and Highly Mobile Hexapod Robot
2. M.Kalakrishnan J.Buchli P.Pastor M.Mistry S.Schaal in2010 IEEE Int. Conf. Robotics and Automation IEEE Piscataway NJ2010 pp.2665–2670.
3. Weaver: Hexapod robot for autonomous navigation on unstructured terrain
4. Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only
5. A.Bouman M. F.Ginting N.Alatur M.Palieri D. D.Fan T.Touma T.Pailevanian S.-K.Kim K.Otsu J.Burdick A. A.Agha-Mohammadi in2020 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.2518–2525.
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献