Cockroach-Inspired Hexapod Robots
Total Page：16
File Type：pdf, Size：1020Kb
International Journal of Trend in Research and Development, Volume 4(3), ISSN: 2394-9333 www.ijtrd.com Cockroach-Inspired Hexapod Robots ¹Varsha K, ²Simran B Godhani, ³Rachel Mathias 1,2,3Department of Computer Science and Engineering, St.Joseph Engineering College, Mangalore, Karnataka, India Abstract— This paper emphasises the need for developing the legged robots rather than wheeled robots. Among these legged robots mentioned in this paper, we will particularly study about the cockroach-like hexapod robot and it’s importance. Over the undulated surfaces, robot movement with wheels becomes difficult. For working and exploring in unknown and rough terrain the use of legged robots is advantageous because their movement is less constrained by the shape of the surface on which they have to travel. The anti-personnel mines of over 100 million is injuring or killing more than 2000 people a month. Under this ultimate environment, a walking robot may be an effective and efficient means of detecting and removing mines Figure 1: ATHLETE during experimental tests while ensuring the safety of local residents and people engaged III. WORKING MECHANISM in the removal work. Hence, insect movement with legs is considered most stable. The present paper proposes an A substantial portion of the Earth is inaccessible to wheeled improved six-legged walking robot. mechanisms natural obstacles like large rocks, loose soil, deep ravines, and steep slopes conspire to render rolling locomotion Initially, the scientists were particularly interested in the stick ineffective. The sea floor, moon, and planets are similarly insect as models since the leg movement is based on a challenging. In natural terrains, legs are often superior to decentralized architecture, in which legs coordinate with each wheels; they avoid undesirable footholds and make discrete other by means of inter segmental connectivity. But, now-a- contacts where wheels must propel with continuous rolling days research work is being carried out on different shapes of contact. One of the most versatile vehicle architecture for robots having four, six, eight legged robots. Among all these working on rough terrain is a legged vehicle. This is true robots, cockroach-like hexapod robot is given the particular because, walking machines only require non–continuous spots importance, because of its remarkable running and climbing of solid ground for moving; whereas wheeled vehicles normally capabilities and because much is known about its biomechanics need large continuous extensions of relatively flat surface to and control. Cockroach is considered to be the fastest land move. There are a number of simple legged robots whose foot animal in the world. Taking this as a cue, cockroach trajectories are fixed to follow a certain route for swing (or movements are discussed in this paper. return stroke) and stance (or power stroke). These types of Keywords— Legged robots, Cockroach- like hexapod robot, vehicles are not so different from wheeled vehicles, as the Wheeled robot behaviour of their legs could be interpreted as a special type of the wheel. But, when the wheels fail to function properly, legs I. INTRODUCTION become the more suitable solution for moving in more A hexapod robot is a mechanical vehicle that walks on six legs. demanding terrains. The legged robots are built to improve the Since a robot can be statically stable on three or more legs, a speed and to climb the obstacle’s height easily. The cockroach- hexapod robot has a great deal of flexibility in how it can move. like hexapod is considered to be the best-legged robot now a If legs become disabled, the robot may still be able to walk. day because of its capability of running fast and climbing. Furthermore, not all of the robot's legs are needed for stability; other legs are free to reach new foot placements or manipulate a payload. Many hexapod robots are biologically inspired by Hexapoda locomotion. Hexapods may be used to test biological theories about insect locomotion, motor control, and neurobiology. II. DESIGN Hexapod designs vary in leg arrangement. Insect-inspired robots are typically laterally symmetric, such as the RiSE robot at Carnegie Mellon. A radially symmetric hexapod is ATHLETE (All-Terrain Hex-Legged Extra-Terrestrial Figure 2: Cockroach inspired Hexapod Robot Explorer) robot at JPL. IV. LOCOMOTION Typically, individual legs range from two to six degrees of freedom. Hexapod feet are typically pointed, but can also be Most often, hexapods are controlled by gaits, which allow the tipped with adhesive material to help climb walls or wheels so robot to move forward, turn, and perhaps side-step. Some of the the robot can drive quickly when the ground is flat. most common gaits are as follows: Alternating tripod: 3 legs on the ground at a time. Quadruped. Crawl: move just one leg at a time. IJTRD | May-Jun 2017 Available [email protected] 382 International Journal of Trend in Research and Development, Volume 4(3), ISSN: 2394-9333 www.ijtrd.com Gaits for hexapods are often stable, even in slightly rocky and Hexbug (insectoid toy robot) uneven terrain. Motion may also be non gaited, which means Stiquito (inexpensive insectoid robot) the sequence of leg motions is not fixed, but rather chosen by Per's Hexapod (hobbyist's prototype robot) the computer in response to the sensed environment. This may RHex be most helpful in very rocky terrain, but existing techniques Amphibious and swimming hexpod for motion planning are computationally expensive. Whegs V. INSPIRED FROM BIOLOGY LAURON Hexy Insects are chosen as models because their nervous system are DIGbot at Case Western Reserve University and The simpler than other animal species. Also, complex behaviours University of South Florida can be attributed to just a few neurons and the pathway between sensory input and motor output is relatively shorter. Insects' walking behaviour and neural architecture are used to improve VIII. FUTURE TRENDS IN ROBOTICS robot locomotion. Alternatively, biologists can use hexapod Helicopters of the future could use insect-like robotic legs to robots for testing different hypotheses. land in unlikely places — like the slopes of steep hills or the decks of rocking boats. Biologically inspired hexapod robots largely depend on the insect species used as a model. The cockroach and the stick Touching down on uneven surfaces is something that today's insect are the two most commonly used insect species; both helicopters are just not equipped to do, according to the have been ethologically and neurophysiologically extensively Defense Advanced Projects Agency, or DARPA, the branch of studied. At present no complete nervous system is known, the U.S. Department of Defense that dreams up new military therefore, models usually combine different insect models, technologies. But robotic landing gear developed for DARPA including those of other insects. at the Georgia Institute of Technology (Georgia Tech) could better equip these aircraft to land just about anywhere. Insect gaits are usually obtained by two approaches: the centralized and the decentralized control architectures. The new landing gear features four robotic legs with bendable Centralized controllers directly specify transitions of all legs, "knees" that turn a normal helicopter into what looks like a whereas in decentralized architectures, six nodes (legs) are giant, mechanical fly. When the chopper touches down, the legs connected in a parallel network; gaits arise by the interaction automatically move to stabilize the aircraft, according to between neighbouring legs. DARPA officials, who recently tested out the new system near the Georgia Tech campus in Atlanta. VI. ARTIFICIAL INTELLIGENCE OVER NATURAL CONCLUSION INTELLIGENCE This technology has given an insight about artificial A. Advantages of Artificial Intelligence(AI) intelligence and how it can be used in insectoid robots. It is More permanent hoped that this paper will incite the reader to probe deeper into Ease of duplication and dissemination this fascinating field, which has helped us gain a deeper insight into ourselves. Less expensive Consistent and thorough References Can be documented [1] Poly-pedal Laboratory at Berkeley (USA). Can execute certain tasks much faster than a human [2] Biological Cybernetics/Theoretical Biology (Germany). B. Categories of AI theories [3] Hexapod project at University of Applied Sciences of UA at Hagenberg (Germany). The four basic categories of AI theories are: [4] Spidey - Project at Birla Institute of Technology (India). [5] Zenta Robotic Creations (Norway). Systems that think like humans [6] Deep Invader the Hexapod (Hong Kong). Systems that act like humans [7] www.a4academics.com Systems that think rationally [8] www.livescience.com Systems that act rationally [9] www.mdpi.com/journal/robotics, Franco Tedeschi and Giuseppe Carbone ,”Dessign issues for Hexapod Walking VII. LIST OF ROBOTS Robots,Department DICEM, University of Cassino and Southern Lazio, Via di Biasio 43, Cassino 03043 (Fr), Pa00k (hobbyist's prototype robot) Italy. The RiSE robot at Carnegie Mellon [10] Wikipedia. The ATHLETE rover at JPL Autonomous walking machine AMOS IJTRD | May-Jun 2017 Available [email protected] 383 .