A Modular Concept for a Biologically Inspired Robot

Mämpel, Jörg; Eisold, R.; Kempf, Wolfgang; Schilling, Cornelius; Witte, Hartmut

doi:10.1007/978-1-84882-985-5_36

Cited by 6 publications

(3 citation statements)

References 12 publications

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“…Design process in the development of a biologically inspired robot. The technical design process should be based on the model, deduced from biomechanical studies [2].…”

Section: Introductionmentioning

confidence: 99%

Biomechanical analyses of rat locomotion during walking and climbing as a base for the design and construction of climbing robots

Andrada¹,

Mämpel²,

Schmidt³

et al. 2010

WIT Transactions on Ecology and the Environment

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Ecological generalists, such as rats, may be used as biological paragons for the design and construction of adaptive light-weight climbing robots. We applied the inverse dynamic approach (IDA) on rats walking and climbing at different inclinations in order to estimate joint forces, torques and power in extremities and the trunk. If we understand the adaptive nature of small mammals' moving on sloped supports, via biomimetic transfer the principles uncovered may be applied to the design and construction of more adaptive climbing machines.

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“…Design process in the development of a biologically inspired robot. The technical design process should be based on the model, deduced from biomechanical studies [2].…”

Section: Introductionmentioning

confidence: 99%

Biomechanical analyses of rat locomotion during walking and climbing as a base for the design and construction of climbing robots

Andrada¹,

Mämpel²,

Schmidt³

et al. 2010

WIT Transactions on Ecology and the Environment

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“…For performing an anguilliform and a thunniform swimming mode, the structure of the robot is a modular one, composing of two different kinds of modules: (i) the basic structure and (ii) the effector modules [1,3,4,6,7,11,12,16]. The connection among the effector modules is realized by a joint with a manually tunable intrinsic passive compliance.…”

Section: Introductionmentioning

confidence: 99%

Reducing complexness of control by intelligent mechanics in undulant swimming robots

et al. 2012

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This article introduces a biologically inspired modular swimming robot. Due to defi ned interfaces in mass, energy, and information fl ux, the robot's swimming behavior is changeable: an undulant, successive called anguilliform as well as a thunniform swimming mode is adjustable. Unlike the current state of the art, the robot comes with specifi c designed mechanics for the reduction of the complexity of software-sided control. Thereby, the number of actuators required for propulsion is reduced to the minimum number of one. Currently the prototype robot consists of a basic structure generating amongst others the required torque and several effector modules. The locomotion mode is switchable depending on the number of effector modules. Thereby, the latest anguilliform setup contains three effector modules. The current thunniform confi guration features one effector module. The effector modules are mechanically coupled with a manually tunable compliant joint. Optimum values concerning spring stiffness subjected to the location of the joint within the robot are evaluated by simulation.

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“…Em complemento ao colocado por Mämpel et al (2009), variados aspectos precisam ser considerados na transferência dos princípios observados na biologia para os processos de engenharia, pois o desenvolvimento de robôs bioinspirados se converte na obtenção de uma solução (ótima) para uma função de muitas variáveis interrelacionadas, como apresentado na • aplicar um método de engaste às arvores considerando uma gama de curvaturas, de modo que o robô possa escalar desde um galho pequeno até uma árvore de grande diâmetro;…”

Section: Arbustosunclassified

KA'I yxo: uma plataforma robótica bioinspirada para aplicações em monitoramento ambiental.

Bernardi¹

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A Modular Concept for a Biologically Inspired Robot

Cited by 6 publications

References 12 publications

Biomechanical analyses of rat locomotion during walking and climbing as a base for the design and construction of climbing robots

Biomechanical analyses of rat locomotion during walking and climbing as a base for the design and construction of climbing robots

Reducing complexness of control by intelligent mechanics in undulant swimming robots

KA'I yxo: uma plataforma robótica bioinspirada para aplicações em monitoramento ambiental.

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