Gait and locomotion analysis of a soft-hybrid multi-legged modular miniature robot

Mahkam, Nima; Özcan, Onur

doi:10.1088/1748-3190/ac245e

Cited by 8 publications

(9 citation statements)

References 37 publications

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“…Figure 5B shows a comparison of representative holonomic robots. [38,41,[84][85][86][87][88][89][90][91] The horizontal axis represents the displacement resolution, and the vertical axis represents the body speed. The proposed robot has a moderate body speed and high resolution.…”

Section: Discussionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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Section: Discussionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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“…We find 'optimum' gaits for each frequency from 0.5 Hz to 4.0 Hz. 'optimum' gaits promise the maximum robot velocity for that specific frequency as described in [27]. On the other hand, one can optimize the gaits to achieve different locomotion behavior/cost functions.…”

Section: Gaitmentioning

confidence: 99%

“…However, it is possible to see the difference when an 'optimum' gait is applied for a robot with more than four legs, i.e. a clear difference in terms of velocity of the robot for trot gait and an 'optimum' gait for a ten-legged robot is presented in [27].…”

Section: Gaitmentioning

confidence: 99%

Control and study of bio-inspired quadrupedal gaits on an underactuated miniature robot

et al. 2023

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This paper presents a Linear Quadratic Gaussian (LQG) controller for controlling the gait of a miniature, foldable quadruped robot with individually actuated and controlled legs. The controller is implemented on a palm-size robot made by folding an acetate sheet. The robot has four DC motors for actuation and four rotary sensors for feedback. It is one of the few untethered robots on a miniature scale capable of working with different gaits with the help of its individually-actuated legs and the developed controller. The presented LQG controller controls each leg's positions and rotational speeds by measuring the positions and estimating the rotational speeds, respectively. With the precise gait control on the robot, we demonstrate different gaits inspired by quadrupeds in nature and compare the simulation and experiment results for some of the gaits. An extensive simulation environment developed for robot dynamics helps us to predict the locomotion behavior of the robot in various environments. The match between the simulation and the experiment results shows that the proposed LQG controller can successfully control the miniature robot's gaits. We also conduct a case study that shows the potential to use the simulation to achieve different robot behavior. In a case study, we present our robot performing a prancing similar to horses. We use the simulation environment to find the required motor configuration phases and physical parameters, which can make our robot prance. After finding the parameters in simulation, we replicate the configuration in our robot and observe the robot making the same moves as the simulation.

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“…Sharbafi et al employed passively compliant elements in legged robots design to cope with uncertainties instead of adjusting the controller because it may be influenced by the measurement delays and noise [31]. SMoLBot was an eight-legged robot with soft and rigid compliant backbones for gait studying of the locomotion of legged modular robots [32]. SILVER2 was a crab-inspired underwater hexapod robot equipping with SEAs in its tibia joints to traverse irregular terrains with a hopping gait [33].…”

Section: Introductionmentioning

confidence: 99%

Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot

Zhang¹,

Liu

Zhou³

et al. 2022

Bioinspir. Biomim.

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Chinese mitten crab has unique limb structures composed of a hard exoskeleton and flexible muscles. They enable the crab to locomote adaptively and safely on various terrains. In this work, we investigated the limb structures, motion principle, and gaits of the crab using a high-speed camera and a press machine. Then, a novel compliant robot leg design method is proposed, inspired by the crab limb. The leg comprises six hard scleromeres and a flexible thin-wall spring steel sheet (FSSS) mimicking the exoskeleton and muscle. The scleromeres connected one by one with rotational joints are designed with slots. The front end of the FSSS is fixed on the scleromere close to the ground. The rear end crosses the slots and is mounted at the shaft of a linear actuator installed at the rear scleromere. The leg bends and stretches when the actuator pushes and pulls the FSSS, respectively. The kinematic modeling, rigid-flexible coupling dynamic simulations, and leg prototype tests are conducted, which verify the leg design approach. Thirdly, we put forward a multi-legged robot with eight compliant legs and design its gait using the gaits of the crab. Finally, the robot’s performance is evaluated, including the capabilities of walking on different terrains at adjustable speeds and body heights, traversing low channels, walking on slopes, and carrying loads. The results prove that the single-motor-actuated compliant legs and their dynamic coupling with the rigid robot body frame can enable them to have the ground clearance ability and realize the adaptive walking of the robot. The leg design methodology can be used to design multi-legged robots with the merits of compact, light, low mechanical complexity, high safety, and easy to control, for many applications, such as environmental monitoring, search and rescue.

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Gait and locomotion analysis of a soft-hybrid multi-legged modular miniature robot

Cited by 8 publications

References 37 publications

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Control and study of bio-inspired quadrupedal gaits on an underactuated miniature robot

Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot

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