Artificial Active Whiskers for Guiding Underwater Autonomous Walking Robots
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Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction. -
Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion
TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Angewandte Mechanik Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion Entwurf und Realisierung eines Humanoiden Roboters für Schnelles und Autonomes Laufen Dipl.-Ing. Univ. Sebastian Lohmeier Vollständiger Abdruck der von der Fakultät für Maschinenwesen der Technischen Universität München zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) genehmigten Dissertation. Vorsitzender: Univ.-Prof. Dr.-Ing. Udo Lindemann Prüfer der Dissertation: 1. Univ.-Prof. Dr.-Ing. habil. Heinz Ulbrich 2. Univ.-Prof. Dr.-Ing. Horst Baier Die Dissertation wurde am 2. Juni 2010 bei der Technischen Universität München eingereicht und durch die Fakultät für Maschinenwesen am 21. Oktober 2010 angenommen. Colophon The original source for this thesis was edited in GNU Emacs and aucTEX, typeset using pdfLATEX in an automated process using GNU make, and output as PDF. The document was compiled with the LATEX 2" class AMdiss (based on the KOMA-Script class scrreprt). AMdiss is part of the AMclasses bundle that was developed by the author for writing term papers, Diploma theses and dissertations at the Institute of Applied Mechanics, Technische Universität München. Photographs and CAD screenshots were processed and enhanced with THE GIMP. Most vector graphics were drawn with CorelDraw X3, exported as Encapsulated PostScript, and edited with psfrag to obtain high-quality labeling. Some smaller and text-heavy graphics (flowcharts, etc.), as well as diagrams were created using PSTricks. The plot raw data were preprocessed with Matlab. In order to use the PostScript- based LATEX packages with pdfLATEX, a toolchain based on pst-pdf and Ghostscript was used. -
DESIGN and DEVELOPMENT of SIX-LEGGED ROBOT for MINE RESCUE SYSTEM 1, * 2 Katakam Prashanth , Dr
Science, Technology and Development ISSN : 0950-0707 DESIGN AND DEVELOPMENT OF SIX-LEGGED ROBOT FOR MINE RESCUE SYSTEM 1, * 2 Katakam Prashanth , Dr. K. Ankamma * Correspondence Author 1. Mr. Katakam Prashanth, 2nd M.Tech Student, Department of Mechanical Engg., MGIT, Gandipet, Hyderabad-75, India, [email protected] 2. Dr. K.Ankamma, Professor, Department of Mechanical Engg., MGIT, Gandipet, Hyderabad-75,email: [email protected] ABSTRACT: Underground mining is best with numerous problems such as ground movement (fall of roof/sides), inundation, air blast, etc.; apart from gas explosions and dust explosions that are restricted to coal mines. Whatever may be the cause and type of accident or the extent of damage caused, it is a horrendous task for the rescue team to reach the trapped miners. The accident/irrespirable zone contains increased levels of harmful gases like carbon dioxide and carbon monoxide and explosive gases like methane apart from a deficiency of Oxygen. The entire gallery or roadway is filled with dust and smoke, or water in case of inundation, hindering the visibility of rescue personnel. Thus, it is not an ideal situation for the rescue team to perform the operations. The first few hours after the disaster are the critical moments that could be the difference between life and death of the trapped miners. Hence, the ideal solution in such cases would be to deploy a wireless 6-legged robot equipped with various gas sensors, ultrasonic sensors, PIR sensor and vision system to aid visibility even in extremely low light conditions. This project reviews some notable examples from the past and highlights designing and developing a 6-legged robot meeting such requirements for mine rescue robots along with some limitations encountered in the design of such robots. -
Performance Analysis and Terrain Classification for a Legged Robot
Performance analysis and terrain classification for a legged robot over rough terrain Fernando L. Garcia Bermudez, Ryan C. Julian, Duncan W. Haldane, Pieter Abbeel, and Ronald S. Fearing Abstract— Minimally actuated millirobotic crawlers navigate unreliably over uneven terrain–even when designed with in- herent stability–mostly because of manufacturing variabilities and a lack of good models for ground interaction. In this paper, we investigate the performance of a legged robot as it traverses three distinct rough terrains: tile, carpet, and gravel. Furthermore, we present an accurate, robust, low-lag, and efficient algorithm for terrain classification that uses vibration data from the on-board inertial measurement unit and motor control data from back-EMF sensing and magnetic encoders. I. INTRODUCTION Millirobotic crawling platforms have in general been op- timized from a design perspective at the mechanical level. The optimization goal was to achieve a certain behavior optimally, such as sprinting [4][17], climbing [3], walking [18][21], or turning [28]. What was not often reported, Fig. 1: Robotic platform, outfitted with motion capture though, is that although the design may be optimal for a tracking dots, positioned on top of the gravel used for specific task, manufacturing variability can result in poor experimentation. performance. This is even more significant at the millirobot scale and was a particularly crucial limitation of the actuation mechanism of the Micromechanical Flying Insect [1]. rough terrains. Using telemetry gathered from the on-board This has prompted several groups to work on adapting sensors, we then focus on terrain classification. the robot’s gait to achieve better performance at tasks the Previous authors have focused on vibrational terrain clas- robot was not designed for (e.g. -
Design and Control of a Large Modular Robot Hexapod
Design and Control of a Large Modular Robot Hexapod Matt Martone CMU-RI-TR-19-79 November 22, 2019 The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA Thesis Committee: Howie Choset, chair Matt Travers Aaron Johnson Julian Whitman Submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics. Copyright © 2019 Matt Martone. All rights reserved. To all my mentors: past and future iv Abstract Legged robotic systems have made great strides in recent years, but unlike wheeled robots, limbed locomotion does not scale well. Long legs demand huge torques, driving up actuator size and onboard battery mass. This relationship results in massive structures that lack the safety, portabil- ity, and controllability of their smaller limbed counterparts. Innovative transmission design paired with unconventional controller paradigms are the keys to breaking this trend. The Titan 6 project endeavors to build a set of self-sufficient modular joints unified by a novel control architecture to create a spiderlike robot with two-meter legs that is robust, field- repairable, and an order of magnitude lighter than similarly sized systems. This thesis explores how we transformed desired behaviors into a set of workable design constraints, discusses our prototypes in the context of the project and the field, describes how our controller leverages compliance to improve stability, and delves into the electromechanical designs for these modular actuators that enable Titan 6 to be both light and strong. v vi Acknowledgments This work was made possible by a huge group of people who taught and supported me throughout my graduate studies and my time at Carnegie Mellon as a whole. -
Principles of Robot Locomotion
Principles of robot locomotion Sven Böttcher Seminar ‘Human robot interaction’ Index of contents 1. Introduction................................................................................................................................................1 2. Legged Locomotion...................................................................................................................................2 2.1 Stability................................................................................................................................................3 2.2 Leg configuration.................................................................................................................................4 2.3 One leg.................................................................................................................................................5 2.4 Two legs...............................................................................................................................................7 2.5 Four legs ..............................................................................................................................................9 2.6 Six legs...............................................................................................................................................11 3 Wheeled Locomotion................................................................................................................................13 3.1 Wheel types .......................................................................................................................................13 -
Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet
robotics Article Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet Saad Bin Abul Kashem 1,*, Shariq Jawed 2 , Jubaer Ahmed 2 and Uvais Qidwai 3 1 Faculty of Robotics and Advanced Computing, Qatar Armed Forces—Academic Bridge Program, Qatar Foundation, 24404 Doha, Qatar 2 Faculty of Engineering, Computing and Science, Swinburne University of Technology, 93350 Sarawak, Malaysia 3 Faculty of Computer Engineering Signal and Image Processing Qatar University, 24404 Doha, Qatar * Correspondence: [email protected] Received: 18 April 2019; Accepted: 27 August 2019; Published: 5 September 2019 Abstract: Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. -
Design and Integration of a Novel Robotic Leg Mechanism for Dynamic Locomotion at High-Speeds
Design and Integration of a Novel Robotic Leg Mechanism for Dynamic Locomotion at High-Speeds Vinaykarthik R. Kamidi Thesis submitted to the Faculty of the Virginia Polytechnic Institute and State University in partial fulfillment of the requirements for the degree of Masters of Science in Mechanical Engineering Pinhas Ben-Tzvi, Chair Alexander Leonessa Tomonari Furukawa December 19, 2017 Blacksburg, Virginia Keywords: Legged Locomotion , Mechanism & Design Copyright 2017, Vinaykarthik R. Kamidi Design and Integration of a Novel Robotic Leg Mechanism for Dynamic Locomotion at High-Speeds Vinaykarthik R. Kamidi ABSTRACT Existing state-of-the-art legged robots often require complex mechanisms with multi-level controllers and computationally expensive algorithms. Part of this is owed to the multiple degrees of freedom (DOFs) these intricate mechanisms possess and the other is a result of the complex nature of dynamic legged locomotion. The underlying dynamics of this class of non-linear systems must be addressed in order to develop systems that perform natural human/animal-like locomotion. However, there are no stringent rules for the number of DOFs in a system; this is merely a matter of the locomotion requirements of the system. In general, most systems designed for dynamic locomotion consist of multiple actuators per leg to address the balance and locomotion tasks simultaneously. In contrast, this research hypothesizes the decoupling of locomotion and balance by omitting the DOFs whose primary purpose is dynamic disturbance rejection to enable a far simplified mechanical design for the legged system. This thesis presents a novel single DOF mechanism that is topologically arranged to execute a trajectory conducive to dynamic locomotive gaits. -
Two Types of Biologically-Inspired Mesoscale Quadruped Robots
Two Types of Biologically-Inspired Mesoscale Quadruped Robots Thanhtam Ho and Sangyoon Lee Department of Mechanical Design and Production Engineering Konkuk University Seoul, Korea [email protected], [email protected] Abstract—This paper introduces two kinds of mesoscale (12 larger displacement than other types of piezocomposite cm), four-legged mobile robots whose locomotions are actuators. implemented by two pieces of piezocomposite actuators. The design of robot leg mechanism is inspired by the leg structure of However LIPCA has some drawbacks, too. For a fully biological creatures in a simplified fashion. The two prototype autonomous locomotion, a robot needs to carry an additional robots employ the walking and bounding locomotion gaits as a load that typically includes a control circuit and a battery, gait pattern. From numerous computer simulations and which requires an actuator to produce a stronger force. experiments, it is found that the bounding robot is superior to the However the active force of LIPCA is not strong enough. In walking one in the ability to carry a load at a fairly high velocity. addition the displacement is not so large either, which forces to However from the standpoint of agility of motions and ability of build a large mechanical amplifier. As a result, the mechanism turning, the walking robot is found to have a clear advantage. In becomes more complicated and heavier. Finally, like other addition, the development of a small power supply circuit that is piezoelectric actuators [1, 4], LIPCA requires a high drive planned to be installed in the prototype is reported. Considering voltage for operation. -
Design and Synthesis of Mechanical Systems with Coupled Units Yang Zhang
Design and synthesis of mechanical systems with coupled units Yang Zhang To cite this version: Yang Zhang. Design and synthesis of mechanical systems with coupled units. Mechanical engineering [physics.class-ph]. INSA de Rennes, 2019. English. NNT : 2019ISAR0004. tel-02307221 HAL Id: tel-02307221 https://tel.archives-ouvertes.fr/tel-02307221 Submitted on 7 Oct 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. THESE DE DOCTORAT DE L’INSA RENNES COMUE UNIVERSITE BRETAGNE LOIRE ECOLE DOCTORALE N° 602 Sciences pour l'Ingénieur Spécialité : « Génie Mécanique » Par « Yang ZHANG » « DESIGN AND SYNTHESIS OF MECHANICAL SYSTEMS WITH COUPLED UNITS » Thèse présentée et soutenue à Rennes, le 19.04.2019 Unité de recherche : LS2N Thèse N° : 19ISAR 06 / D19 - 06 Rapporteurs avant soutenance : Composition du Jury : BEN OUEZDOU Féthi WENGER Philippe Professeur des Universités, UVSQ, Versailles Directeur de Recherche CNRS, LS2N Nantes / Président DELALEAU Emmanuel BEN OUEZDOU Féthi Professeur des Universités, ENIB, Brest Professeur des Universités, UVSQ, Versailles -
Underwater Mobile Manipulation: a Soft Arm on a Benthic Legged Robot
This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination. A Soft Arm on a Benthic Legged Robot © PHOTOCREDIT By Jiaqi Liu, Saverio Iacoponi, Cecilia Laschi, Li Wen, and Marcello Calisti obotic systems that can explore the sea floor, can be significantly extended by adding a benthic legged collect marine samples, gather shallow water robot as a mobile base. We show that this system can precisely refuse, and perform other underwater tasks are and effectively approach objects and perform dexterous interesting and important in several fields, from grasping tasks, including retrieving objects from deep aper- biology and ecology to off-shore industry. In this tures in overhang environments. This robotic system has the Rarticle, we present a robotic platform that is, to our potential to scale up to make shallow water collection tasks knowledge, the first to combine benthic legged safer and more efficient. locomotion and soft continuum manipulation to perform real-world underwater mission-like experiments. We Deep Sea Challenges experimentally exploit inverse kinematics for spatial Oceanic exploration is considered a frontier for under- manipulation in a laboratory environment and then standing our planet and its changes, searching for new examine the robot’s workspace extensibility, force, energy resources, sustaining populations, and even discovering consumption, and grasping ability in different undersea novel medical therapies. At present, however, less than scenarios. five percent of our oceans has been thoroughly A six-legged benthic robotic platform, the Seabed Interac- explored. Oceanic exploration can be costly, dangerous, tion Legged Vehicle for Exploration and Research, Version 2 impractical, and logistically challenging [1]. -
Rhex: a Simple and Highly Mobile Hexapod Robot
Uluc. Saranli RHex: A Simple Department of Electrical Engineering and Computer Science University of Michigan and Highly Mobile Ann Arbor, MI 48109-2110, USA Martin Buehler Hexapod Robot Center for Intelligent Machines McGill University Montreal, Québec, Canada, H3A 2A7 Daniel E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor, MI 48109-2110, USA Abstract RHex travels at speeds approaching one body length per sec- ond over height variations exceeding its body clearance (see In this paper, the authors describe the design and control of RHex, 2 a power autonomous, untethered, compliant-legged hexapod robot. Extensions 1 and 2). Moreover, RHex does not make unreal- RHex has only six actuators—one motor located at each hip— istically high demands of its limited energy supply (two 12-V achieving mechanical simplicity that promotes reliable and robust sealed lead-acid batteries in series, rated at 2.2 Ah): at the operation in real-world tasks. Empirically stable and highly maneu- time of this writing (spring 2000), RHex achieves sustained verable locomotion arises from a very simple clock-driven, open- locomotion at maximum speed under power autonomous op- loop tripod gait. The legs rotate full circle, thereby preventing the eration for more than 15 minutes. common problem of toe stubbing in the protraction (swing) phase. The robot’s design consists of a rigid body with six com- An extensive suite of experimental results documents the robot’s sig- pliant legs, each possessing only one independently actu- nificant “intrinsic mobility”—the traversal of rugged, broken, and ated revolute degree of freedom.