Nimble Limbs - Intelligent attachable legs to create walking robots from variously shaped objects

Buettner, Timothee; Heppner, G.; Roennau, Arne; Dillmann, Ruediger

doi:10.1109/aim.2019.8868845

Cited by 5 publications

(5 citation statements)

References 23 publications

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“…This includes adjustments such as keeping the robot's body closer to the surface it is climbing. [5,26], REST [27], ROMHEX [28], Hexaquad [29], SCALER [18], ROBOCLIMBER [16], MRWALLSPECT-II [30], LEMUR [31], Magneto [32], RVC [33], ASV [34], MECANT I [22], Ambler [15], H. Montes hexapod [17], LAURON [8], RIMHO II [35], OSCAR [36], Oncilla [19], TITAN [37], PV-II [21], ANYmal [9], StarlETH [38], Spot [39], Nimble limbs [40].…”

Section: Type Sketch Advantages Disadvantages Examplesmentioning

confidence: 99%

“…Among self-reconfiguring modular robots, we can highlight Polybot [91], Crystalline [92], M-TRAN [93], Telecube [94], Atron [86], Superbot [88], Molecubes [95], Roombots [96], Ubot [97], Transmote [98], CoSMO [99], Hinged-Tetro [100], SB blocks [101], Nimble Limbs (NL) [40], Morphius [102], MLS [103], or KARAKASA [104]. On the other hand, among manually reconfiguring modular robots, we consider relevant Conro [105], Microtub [106], Odin [107], iMOBOT [108], M 3 Express [109], Kairo 3 [110], Fable II [111], TR: R [112], Snapbot [113], and WalkingBot [114].…”

Section: Modular Robotsmentioning

confidence: 99%

“…Nimble Limbs Nimble Limbs system [40] It proposes a decentralized control with a variable number of legs, but it is still preliminary and it has not been tested in a physical system to validate its behavior. It is simple, and in this way, it does not contemplate many scenarios, or communication details and also does not go into implementation details.…”

mentioning

confidence: 99%

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A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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Section: Type Sketch Advantages Disadvantages Examplesmentioning

confidence: 99%

Section: Modular Robotsmentioning

confidence: 99%

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A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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“…In search of robustness through redundancy and fast adaptation of the nature, in [ 38 ] the authors present how a modular robotic leg must be designed to tackle structured environments. Similarly, in [ 36 , 39 ] the basic ideas to create legs of a modular robot are presented.…”

Section: State Of the Artmentioning

confidence: 99%

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

et al. 2022

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MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin.

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“…En esta búsqueda de robustez a través de la redundancia y la rápida adaptación de la naturaleza, en Buettner et al (2018) los autores presentan cómo se debe diseñar una pata robótica modular para abordar el mantenimiento y la navegación en entornos estructurados. De manera similar, en Buettner et al (2019); Desai et al (2018) se presentan las ideas básicas para crear las patas de un robot modular. debido a los entornos a los que están enfocados.…”

Section: Estado Del Arteunclassified

ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

Prados

Hernando

Gambao

et al. 2022

Rev. iberoam. autom. inform. ind.

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Este artículo presenta el robot ROMERIN, un organismo robótico modularmente compuesto por patas que utilizan ventosas activas como sistema de adhesión al entorno, y cuyo objetivo es la inspección de infraestructuras mediante la escalada. Se detalla la estructura física del organismo robótico, incluyendo una explicación de los módulos y del cuerpo. También se incluye una descripción de la arquitectura de control basada en el control en par de la posición del cuerpo del organismo, cuyo número de patas y disposición de las mismas es variable de forma que el sistema es versátil para su utilización en diferentes entornos y aplicaciones. La arquitectura de control que se ha diseñado sirve de base para el control de robots escaladores con patas de cualquier número de patas. Se ha comprobado su funcionamiento en el robot físico ROMERIN y en su gemelo digital (“digital twin”), registrando y mostrando dichos resultados. Además, se ha comprobado el funcionamiento de la arquitectura de control para diferentes configuraciones del organismo, demostrando su modularidad y versatilidad para diferentes aplicaciones.

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Nimble Limbs - Intelligent attachable legs to create walking robots from variously shaped objects

Cited by 5 publications

References 23 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

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