A Horseshoe Crab Inspired Surf Zone Robot With Righting Capabilities

Krummel, Gregory; Kaipa, Krishnanand N.; Gupta, Satyandra K.

doi:10.1115/detc2014-34679

Cited by 14 publications

(10 citation statements)

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“…A diversity of terrestrial self-righting techniques has been developed to help mobile robots self-right. These include: having a body shape that is unstable when upside down together with a low or movable center of mass position [37][38][39][40][41][42]; implementing additional long appendages such as arms, levers, legs, or tails [38,[43][44][45][46][47][48][49]; using reconfigurable wheels [50], tracks [51,52], or body modules [52,53] that can be re-configured via self-reassembly to change overall shape; or working around the problem of flipping-over by adopting a dorsoventrally symmetrical body design [44,54,55] or one with no "upright" orientation if a nominal upright orientation is not required [56].…”

Section: Introductionmentioning

confidence: 99%

Mechanical principles of dynamic terrestrial self-righting using wings

Kessens

Fearing

2017

Advanced Robotics

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Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening magnitude, speed, and asymmetry, and modeled how kinematic and energetic requirements depend on wing shape and body/wing mass distribution. We discovered that the robot self-rights dynamically using kinetic energy to overcome potential energy barriers, that larger and faster symmetric wing opening increases self-righting performance, and that opening wings asymmetrically increases righting probability when wing opening is small. Our results suggested that the discoid cockroach's winged self-righting is a dynamic maneuver. While the thin, lightweight wings of the discoid cockroach and our robot are energetically sub-optimal for self-righting compared to tall, heavy ones, their ability to open wings saves them substantial energy compared to if they had static shells. Analogous to biological exaptations, our study provided a proof-of-concept for terrestrial robots to use existing morphology in novel ways to overcome new locomotor challenges.

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Section: Introductionmentioning

confidence: 99%

Mechanical principles of dynamic terrestrial self-righting using wings

Kessens

Fearing

2017

Advanced Robotics

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“…QAR with compliance assisted legs [79] contributes to splash-free swimming. However, further work on concurrent gait and optimizing the oscillatory flap mechanism is still to be addressed.…”

Section: B Discussionmentioning

confidence: 99%

“…However, the design limits its walking speed on the ground and smooth gait transition between the medium for practical applications. QAR with improved Klann mechanism imitating duck feet [79] presents a unique single design mechanism for swimming and walking; though the design is novel, it is less efficient. Besides, the design can be improved with a rigid Klann mechanism with a reconfigurable [101] design for flexible operation.…”

Section: B Discussionmentioning

confidence: 99%

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Locomotion Strategies for Amphibious Robots-A Review

et al. 2021

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In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots.

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“…First successful terrestrial applications are the amphibious robot RoboCrab by Krummel et al, which adapts the skills of horseshoe crabs within the surf zone, or the four-wheeled autonomous robot by ChangSiu et al, which is capable of mid-air reorienting during free fall modeled on geckoes (Hemidactylus platyurus) [1] [2].…”

Section: Introductionmentioning

confidence: 99%

Righting of Chinese Mitten Crabs (Eriocheir Sinensis) and Their Models

Riphaus

Hoffmann

Labisch

2016

APP

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Abstract. The usage of unmanned underwater vehicles for marine tasks is continuously growing and bioinspired stabilizing systems shall help them to gain and keep a stable position during work. Therefore the righting maneuver of E. sinensis has been studied. These crabs are able to perform a 180• -rotation with an angular velocity of 4.30 s −1 when falling underwater from a supine starting position. High-speed particle image velocimetry has shown, that propulsive forces with a peak of 0.021 ± 0.001 N were produced by the hind legs to initiate and stop the rotation. In a numerical multibody simulation a constant force of 0.009 N acting for 0.2 s leads to the same rotation. In order to prove this mechanism, it was implemented into a robotic system. Its mean density of 1.15 g/cm 3 deviates not more than 4% from the biological and numerical models. It can complete a 180• -turn within 1.03 ± 0.12 s with a rotational velocity of up to 4.25 s −1 .

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A Horseshoe Crab Inspired Surf Zone Robot With Righting Capabilities

Cited by 14 publications

References 0 publications

Mechanical principles of dynamic terrestrial self-righting using wings

Mechanical principles of dynamic terrestrial self-righting using wings

Locomotion Strategies for Amphibious Robots-A Review

Righting of Chinese Mitten Crabs (Eriocheir Sinensis) and Their Models

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