WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning

Wang, Meng; Su, Yao; Liu, Hangxin; Xu, Yingqing

doi:10.1109/ro-man47096.2020.9223474

Cited by 8 publications

(7 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The relationship between the angle and strain is given in formula ( 9); the pre-stretch δ P produces a residual tangential strain, δ PA and δ PB denote the stretch of springs A and B, which tend to be 0 and δ P at the positive and negative travel limits of the actuator, respectively. All loads acting on the output part of the actuator (including torsional and linear forces) can be expressed as formula (1), where T and F denote torque and force, respectively, and subscripts A, B, f denote spring A, spring B, and friction. J l and m l are the rotational inertia and mass, including the output section, shaft, and external load.…”

Section: Appendix C Kinematic and Dynamic Modelsmentioning

confidence: 99%

“…The mechanobiology of MSCs studies the effect of mechano-niche on cell differentiation [25,26]. Previous WalkingBot [1] StarBlocks [46] ROMERIN [4] Morpho [20] Gardi et al [21] Luo et al [24] Ant3DBot [22] SMoLBot [47] This work studies [27][28][29][30] on MSCs have demonstrated the effectiveness of manual intervention [31][32][33][34][35][36] in differentiation by adjusting external loading (pressure, fluid shear, and medium stiffness), as shown in figure 1(a). Inspired by these approaches, we designed a 'differentiable' actuator and applied mechanical preloads, such as force and torque, to enable various multimodality and versatility, as shown in figure 1(b).…”

Section: Introductionmentioning

confidence: 96%

“…Bionic approaches are widely used in the design of modular robots, including footed robots [1][2][3][4][5], continuous robots [6][7][8][9][10][11][12][13][14][15][16][17], which mimic biological macrostructures, and particle robots [18][19][20][21][22][23][24]. The functionality of the modular robot depends on its configuration and size.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A differentiable actuator extends potential configurations of modular robots

Li,

Zhang,

Liang

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

Mesenchymal stem cells can be differentiated into various cell lineages under the influence of mechano-niche. Inspired by this approach, this study presents a differentiable stem cell actuator unit (SAU) driven by a shape memory alloy (SMA), and a modular robotic framework. Similar to mechanically guided differentiation of mesenchymal stem cells, SAUs can be differentiated into a series of differentiated actuator units (DAUs) under external preload. This process has been modeled, simulated, and experimentally validated, with testing conducted on three distinct types and 14 specifications of DAUs. DAUs weighing as light as 1.9g exhibited outputs reaching up to 10.6N and 46.32Nmm. Our team has developed seven application prototypes based on this bio-inspired framework including mobile robots, manipulators and end effectors. This work pioneers the integration of differentiable concepts and principles into the design of modular robots, enabling a wider range of potential configurations and capabilities.

show abstract

Section: Appendix C Kinematic and Dynamic Modelsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

See 1 more Smart Citation

A differentiable actuator extends potential configurations of modular robots

Li,

Zhang,

Liang

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…These systems try to imitate nature, which has developed an extraordinary robustness through redundancy and fast adaptation. WalkingBot [ 35 ] is a modular interactive legged robot whose configuration is dynamically detected. It demonstrates behavior with different arrangements, such as quadruped or hexapod configurations.…”

Section: State Of the Artmentioning

confidence: 99%

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

et al. 2022

View full text Add to dashboard Cite

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.

show abstract

“…Estos sistemas intentan imitar a la naturaleza, que ha desarrollado una extraordinaria robustez a través de la redundancia y de la rápida adaptación. WalkingBot Wang et al (2020) es un robot interactivo modular con patas cuya configuración se detecta dinámicamente. Demuestra un correcto comportamiento con diferentes distribución de patas, como configuraciones cuadrúpedas o hexápodas.…”

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.

View full text Add to dashboard Cite

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.

show abstract

WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning

Cited by 8 publications

References 24 publications

A differentiable actuator extends potential configurations of modular robots

A differentiable actuator extends potential configurations of modular robots

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

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

Contact Info

Product

Resources

About