A comprehensive study on the locomotion characteristics of a metameric earthworm-like robot

Fang, Hongbin; Wang, Chenghao; Li, Suyi; Wang, K. W.; Xu, Jian

doi:10.1007/s11044-014-9428-5

Cited by 49 publications

(56 citation statements)

References 8 publications

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“…An earthworm robot was presented in ref. [24] that consisted of eight, soft body segments, capable of expansion and contraction by pulling cables. The robot generated forward locomotion by keeping the majority of its body segments stationary while sliding the remaining segments forward.…”

Section: Robot Designsmentioning

confidence: 99%

“…Body lengths per second (s −1 ) MMIR V2 0.689 Active cord mechanism-R5 robot 19 0.25 Maryland snake inspired robot 15 0.167 Inchworm robots with bidirectional passive claws 26 0.160 MMIR V1 0.127 Active scope camera robot 29,30 0.125 Scalybot 31 0.123 Slim slime robot 18 8.21e-2 Earthworm-like robot with shape memory alloy actuator 24 2.17e-2 Snake robot with unidirectional wheels 20 1.17e-2 Earthworm-like micro robot with a shape memory alloy actuator 10 3.20e-3 Planar walker 23 1.41e-3…”

Section: Robotmentioning

confidence: 99%

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Design of a miniature modular inchworm robot with an anisotropic friction skin

Saab¹,

Racioppo²,

Kumar³

et al. 2018

Robotica

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SUMMARYThis paper presents the design, analysis, and experimental validation of a miniature modular inchworm robot (MMIR). Inchworm robots are capable of maneuvering in confined spaces due to their small size, a desirable characteristic for surveillance, exploration and search and rescue operations. This paper presents two generations of the MMIR (Version 1—V1 and Version 2—V2) that utilize anisotropic friction skin and an undulatory rectilinear gait to produce locomotion. This paper highlights design improvements and a multi-body dynamics approach to model and simulate the system. The MMIR V2 incorporates a slider-crank four-bar mechanism and a relative body revolute joint to produce high-frequency relative translation and rotation to increase forward velocity and enable turning capabilities. Friction analysis and locomotion experiments were conducted to assess the systems performance on various surfaces, validate the dynamic model and simulation results, and measure the maximum forward velocity. The MMIR V1 and V2 were able to achieve maximum forward velocities of 12.7 mm/s and 137.9 mm/s, respectively. These results are compared to reported results of similar robots published in the literature.

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Section: Robot Designsmentioning

confidence: 99%

Section: Robotmentioning

confidence: 99%

Design of a miniature modular inchworm robot with an anisotropic friction skin

Saab¹,

Racioppo²,

Kumar³

et al. 2018

Robotica

View full text Add to dashboard Cite

show abstract

“…Obviously the concept of gait, albeit containing the motion depicted in Fig. 2, corresponds to various coordination modes of animal (or robot) legs in the literature [5,10,13]. However, one-legged template structure of the SLIP model does not allow a multi-legged gait description for one stride.…”

Section: Dissipative Slip Modelmentioning

confidence: 99%

“…For the hip actuator, the following torque function is proposed in [20] (10) where τ 0 := α/θ td . The α parameter is called as constant touchdown parameter.…”

Section: Torque-actuated Dissipative Slip Modelmentioning

confidence: 99%

“…Therefore, the main research direction in the field of legged locomotion is to first analyze and understand legged locomotion [4,5], then build legged robots with high maneuverability and control their locomotion by inspiring from nature [6]. Detailed reviews about legged robots can be found in [7,8] 1.1 Models for running with legged robots There are various approaches that are used to represent and study legged locomotion such as physicsbased mathematical models [9,10], data-driven models [11] and central pattern generator-based models [12][13][14]. Among these, it would be fair to say that a vast majority of the current literature exclusively focus on developing physics-based mathematical models and performing parametric fit to the data.…”

Section: Introductionmentioning

confidence: 99%

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On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization

Hamzaçebi

Morgül

2017

Nonlinear Dyn

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Spring-loaded inverted pendulum (SLIP) template (and its various derivatives) could be considered as the mostly used and widely accepted models for describing legged locomotion. Despite their simple nature, as being a simple spring-mass model in dynamics perspective, the SLIP model and its derivatives are formulated as restricted three-body problem, whose non-integrability has been proved long before. Thus, researchers proceed with approximate analytical solutions or use partial feedback linearization when numerical integration is not preferred in their analysis. The key contributions of this paper can be divided into two parts. First, we propose a dissipative SLIP model, which we call as multi-actuated dissipative SLIP (MD-SLIP), with two extended actuators: one linear actuator attached serially to the leg spring and one rotary actuator attached to hip. The second contribution of this paper is a partial feedback linearization strategy by which we can cancel some nonlinear dynamics of the proposed model and obtain exact analytical solution for the equations of motion. This allows us to investigate stability characteristics of the hopping gait obtained from the MD-SLIP model. We illustrate the applicability of our solutions with open-loop and closed-loop hopping performances on rough terrain simulations.

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A CPG‐Based Versatile Control Framework for Metameric Earthworm‐Like Robotic Locomotion

2023

Self Cite

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Annelids such as earthworms are considered to have central pattern generators (CPGs) that generate rhythms in neural circuits to coordinate the deformation of body segments for effective locomotion. At present, the states of earthworm‐like robot segments are often assigned holistically and artificially by mimicking the earthworms’ retrograde peristalsis wave, which is unable to adapt their gaits for variable environments and tasks. This motivates the authors to extend the bioinspired research from morphology to neurobiology by mimicking the CPG to build a versatile framework for spontaneous motion control. Here, the spatiotemporal dynamics is exploited from the coupled Hopf oscillators to not only unify the two existing gait generators for restoring temporal‐symmetric phase‐coordinated gaits and discrete gaits but also generate novel temporal‐asymmetric phase‐coordinated gaits. Theoretical and experimental tests consistently confirm that the introduction of temporal asymmetry improves the robot's locomotion performance. The CPG‐based controller also enables seamless online switching of locomotion gaits to avoid abrupt changes, sharp stops, and starts, thus improving the robot's adaptability in variable working scenarios.

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A comprehensive study on the locomotion characteristics of a metameric earthworm-like robot

Cited by 49 publications

References 8 publications

Design of a miniature modular inchworm robot with an anisotropic friction skin

Design of a miniature modular inchworm robot with an anisotropic friction skin

On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization

A CPG‐Based Versatile Control Framework for Metameric Earthworm‐Like Robotic Locomotion

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