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Proceedings ArticleDOI

Bio-inspired Reconfigurable Robot: Conceptual Design of an All-terrain Robot Capable of Transforming from an Erect to Sprawling Posture

TL;DR: This paper deals with the conceptual design of a bio-inspired reconfigurable robot, capable of transforming its gait from an erect to the sprawling configuration, depending on the terrain to move with maximum stability.
Abstract: This paper deals with the conceptual design of a bio-inspired reconfigurable robot, capable of transforming its gait from an erect to the sprawling configuration, depending on the terrain to move with maximum stability. Taking inspiration from biological systems, various studies were carried out on numerous link and joint arrangements in order to arrive at this leg design that can facilitate gait transformation. Based on gait analysis and assuming robots kinematic parameters such as velocity, stroke length, body length & width, support polygon was built. The trajectory planning of foot in swing phase was carried out, to minimize the impact force on touchdown. Angular velocity profile of each joint was obtained by inverse kinematics. These angular velocity profiles were fed into a dynamic simulator to carry out multi-body dynamics of the complete robot, for estimating the required torque and force on each joint. Using obtained torque and force values, the dimensions of leg components were refined using finite element analysis. Torque requirement for sprawl and upright motion are compared to finalize the actuators. The potential fields of application of this robot include: search and rescue, surveillance and other military operations.
Citations
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Journal ArticleDOI
TL;DR: The performance of the physical prototype of the TRREx has been compared to simulation results and qualitative agreement between the experimental and simulated results indicate that the mathematical model created for the vehicle’s rolling mode dynamics captures the essential behavior of the vehicle.

2 citations

Proceedings ArticleDOI
20 Apr 2018
TL;DR: This paper deals with the inverse dynamics of various reconfigurable postures and a few inspired by nature, and compares the corresponding joint torques, in order to study the change in torque requirements for these postures.
Abstract: The developed Bio-inspired Robot can transform its posture from erect to sprawl and vice versa. This paper deals with the inverse dynamics of various reconfigurable postures and a few inspired by nature. The corresponding joint torques are compared, in order to study the change in torque requirements for these postures. Initially, a reductionist model of robot walk was developed and joint torques were calculated analytically and compared with torque output obtained using "Solidworks" for verifying the model. Subsequently, inverse kinematics was carried out by assuming certain parameters such as velocity, stroke length, and robot dimensions. The angular velocity profiles obtained from inverse kinematics analysis were used to run inverse dynamics; thereby obtaining the joint torques. Using the same process for various configurations, we compared different postures and their torque requirements. These results can further be used to minimize torque and energy requirements, enabling the robot to reconfigures itself to the most energy efficient configuration suited to terrain changes. The potential fields of application of this robot include: search and rescue, surveillance and other military operations.

2 citations


Cites methods from "Bio-inspired Reconfigurable Robot: ..."

  • ...These values are used as inputs to run Multi-body dynamics (MBD) and finite element analysis (FEA) [5]....

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  • ...Taking inspiration from this, a reconfigurable robot, capable of transforming itself from an erect (upright) posture to a crawling/sprawling posture was conceptualized and then developed [5]....

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Proceedings ArticleDOI
23 Sep 2020
TL;DR: IITM B-Robot, a bioinspired reconfigurable quadruped robot, capable of transforming its posture from erect to sprawl and vice versa, and capable of changing its configurations depending on the terrain is introduced.
Abstract: This paper introduces IITM B-Robot, a bioinspired reconfigurable quadruped robot, capable of transforming its posture from erect to sprawl and vice versa, and capable of changing its configurations depending on the terrain. The capability ensures the robot able to move with maximum speed and greater stability at all-terrain conditions. In this research work, it has been proposed to develop a robot having 3-DoF legs for reducing energy consumption and cost reduction. Two identical robot designs are proposed, one with 3-DoF legs and another having 4-DoF legs and a comparative study has been done between them by calculating the torque requirement at each leg joints by carrying out multibody dynamics simulation for a complete robot. The trajectory planning equations have arrived such that the robot legs touchdown with minimum impact. Optimal design for impact to save the actuator from damage and finite element analysis of parts for refinement of dimensions has been carried out.

1 citations

Book ChapterDOI
01 Jan 2019
TL;DR: The study of support polygon and graphical analysis to find the location of CoG, where the robot has high chances to go to instability, and trajectory of the robot is defined, which can produce smooth, steady, and stable robot motion.
Abstract: Trajectory planning of robot’s center of gravity (CoG) is the main concern when a legged robot is walking. The trajectory of the robot should be framed such that the center of pressure (CoP) of the robot should lie within supporting polygon at all time. This paper deals with the study of support polygon and graphical analysis to find the location of CoG, where the robot has high chances to go to instability. The quadrilateral supporting phases are utilized to avoid these instability locations. Further, the analysis is done to find the timely sequence of lift and touchdown of legs (lift and touch are called as events of legs). Based on the sequence of events and the support polygon analysis, trajectory of the robot is defined, which can produce smooth, steady, and stable robot motion. Though the robot gains static stability by trajectory planning, its dynamic stability should also be verified. This is done using zero moment point (ZMP) method. The analysis done in this paper is for the unswaying robot, walking on flat terrain.
References
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Proceedings ArticleDOI
24 Apr 2000
TL;DR: This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day.
Abstract: This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms are given for the most important dynamics computations, expressed in a common notation to facilitate their presentation and comparison.

317 citations


"Bio-inspired Reconfigurable Robot: ..." refers background in this paper

  • ...The initial legged robots developed had used closed kinematic chains, causing the gait pattern of their legs to be fixed [9, 10]....

    [...]

DOI
01 Jan 2012
TL;DR: StarlETH as mentioned in this paper is a compliant quadrupedal robot that is designed to study fast, ecient, and versatile locomotion and is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers.
Abstract: This paper introduces StarlETH, a compliant quadrupedal robot that is designed to study fast, ecient, and versatile locomotion. The platform is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the same time well suited for highly dynamic maneuvers. We additionally emphasize key elements of a powerful real time control and simulation environment. The work is concluded with a number of experiments that demonstrate the performance of the presented hardware and controllers.

254 citations

Proceedings ArticleDOI
20 Apr 1997
TL;DR: Design and control of a new quadruped walking and manipulating robot TITAN VII which can be operated on a steep slope is discussed and a passive terrain adaptive foot mechanism consisting of a "rocker bogie sole" based on the concept of a connected differential mechanism is mentioned.
Abstract: Design and control of a new quadruped walking and manipulating robot TITAN VII which can be operated on a steep slope is discussed. We first consider the optimal design of a driving system of legs consisting of prismatic actuators so as to produce large output power with minimum weight based on the concept of coupled drive. Secondly, we discuss the criteria for stability on a slope and introduce a new type of extensible leg to maintain high terrain adaptability on a sleep slope. Thirdly, we mention a passive terrain adaptive foot mechanism consisting of a "rocker bogie sole" based on the concept of a connected differential mechanism and including an ankle installed sensor mechanism. The validity of these newly introduced mechanisms has been investigated through walking experiments of the prototype model TITAN VII, including climbing a slope of about 30 degrees using the intermittent crawl gait.

123 citations


"Bio-inspired Reconfigurable Robot: ..." refers background in this paper

  • ...The fixed gait made them unsuitable to tackle obstacles, leading to very low maneuverability [12]....

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Journal ArticleDOI
TL;DR: A new mechanical scheme for a leg to be included in legged vehicles that simplifies the control actuations along the stride and requires only five commands for the electronic cards to control the leg is presented.
Abstract: Purpose – The paper aims to present a new mechanical scheme for a leg to be included in legged vehicles that simplifies the control actuations along the stride.Design/methodology/approach – The scheme includes three four‐bar links grouped in two mechanisms. The first one decouples the vertical and horizontal foot movements. The second one produces a constant horizontal foot velocity when the corresponding motor is given a constant speed. A hybrid robot with wheels at the end of the hind legs has been simulated and constructed to validate the leg performance.Findings – The gait control requires only five commands for the electronic cards to control the leg. Decoupling vertical and horizontal movements allows a more adequate selection of actuators, a reduction of energy consumption, and higher load capacity and robot velocity. Additional mechanical benefits, such as improved robustness and lower inertia, are obtained. The hind legs can also be articulated, allowing the robot to overcome an obstacle and to c...

29 citations


"Bio-inspired Reconfigurable Robot: ..." refers background in this paper

  • ...Mobile robots in use today are majorly classified as wheeled, legged and hybrid robots[1]....

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Proceedings ArticleDOI
01 Dec 2011
TL;DR: The design of biologically inspired structural components which should effectively improve the locomotion and mobility characteristics when applied to a robotic system and the planned prototype is used to demonstrate the possibilities of these subsystems by acting collaboratively.
Abstract: In this paper, we present the design of biologically inspired structural components which should effectively improve the locomotion and mobility characteristics when applied to a robotic system. The aim is to increase the overall performance of a complex walking robot by the purposeful use of intelligent structures. In order to achieve this goal, an improved perception of the environment and the robot's own condition is needed. The structures contain a variety of functions which not only can extend the already existing locomotion behaviors of robots, but also permit further relevant applications like the contemporaneous use as supporting structure and sensor system. A precise perception of the environment is realizable with a high number of various sensors which results in large amount of data. To obtain the necessary information, a hierarchical sensor concept is used. Rigid or connecting elements are extended to single subsystems, including locally preprocessed and evaluated sensor information. The description in this paper includes the single subsystems and the planned prototype which will be used to demonstrate the possibilities of these subsystems by acting collaboratively.

25 citations