Powertrain selection for a biologically-inspired miniature quadruped robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 2398-2405

  Ozcan, Onur ^a   Baisch, Andrew T ^a   Ithier, Daniel ^a   Wood, Robert J ^a  

^a HARVARD UNIVERSITY   (United States)

Author keywords

Biologically Inspired Robots; Legged Locomotion; Miniature Robots; Mobile Robotics

Indexed keywords

ACTUATORS; AERODYNAMIC LOADS; ROBOTICS;

ACTUATOR SELECTIONS; BIOLOGICALLY INSPIRED; BIOLOGICALLY-INSPIRED ROBOTS; FORCE AND DISPLACEMENTS; LEGGED LOCOMOTION; MINIATURE ROBOTS; MOBILE ROBOTIC; ON-BOARD ELECTRONICS;

ROBOTS;

EID: 84905283014     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907192     Document Type: Conference Paper

References (20)

1. S. Sponberg and R. Full, "Neuromechanical response of musculo-skeletal structures in cockroaches during rapid running on rough terrain," Journal of Experimental Biology, vol. 211, pp. 433-446, May 2008.
2. D. Goldman, T. Chen, and D. Dudek, "Dynamics of rapid vertical climbing in cockroaches reveals a template," Journal of Experimental Biology, vol. 209, no. 15, pp. 2990-3000, 2006.
3. A. Hoover, E. Steltz, and R. Fearing, "Roach: An autonomous 2.4g crawling hexapod robot," in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, sept. 2008, pp. 26-33.
4. A. Hoover, S. Burden, X.-Y. Fu, S. Sastry, and R. Fearing, "Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot," in Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on, sept. 2010, pp. 869-876.
5. P. Birkmeyer, K. Peterson, and R. Fearing, "Dash: A dynamic 16g hexapedal robot," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, oct. 2009, pp. 2683-2689.
6. S. Kim, M. Spenko, S. Trujillo, D. Santos, and M. Cutkosky, "Smooth vertical surface climbing with directional adhesion," IEEE Transactions on Robotics, vol. 24, pp. 65-74, Feb. 2008.
7. S. Kim, A. Asbeck, M. Cutkosky, and W. Provancher, "Spinybot II: climbing hard walls with compliant microspines," in Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on, july 2005, pp. 601-606.
8. M. Murphy, C. Kute, Y. Menguc, and M. Sitti, "Waalbot II: Adhesion recovery and improved performance of a climbing robot using fibrillar adhesives," The Internation Journal of Robotics Research, vol. 30, no. 1, pp. 118-133, 2011.
9. 3: An autonomous 1.7g ambulatory robot," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, sept. 2011, pp. 5073-5079.
10. A. Pullin, N. Kohut, D. Zarrouk, and R. Fearing, "Dynamic turning of 13 cm robot comparing tail and differential drive," in Robotics and Automation (ICRA), 2012 IEEE International Conference on, may 2012, pp. 5086-5093.
11. K. Peterson and R. S. Fearing, "Experimental dynamics of wing assisted running for a bipedal ornithopter," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, sept. 2011, pp. 5080-5086.
12. G. Nelson, R. Quinn, R. Bachmann, W. Flannigan, R. Ritzmann, and J. Watson, "Design and simulation of a cockroach-like hexapod robot," in Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, vol. 2, apr 1997, pp. 1106-1111 vol.2.
13. J. Clark, J. Cham, S. Bailey, E. Froehlich, P. Nahata, R. Full, and M. Cutkosky, "Biomimetic design and fabrication of a hexapedal running robot," in Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, vol. 4, 2001, pp. 3643-3649 vol.4.
14. Y. Gao, W.-h. Chen, and Z. Lu, "Kinematics analysis and experiment of a cockroach-like robot," Journal of Shanghai Jiaotong University (Science), vol. 16, pp. 71-77, 2011.
15. K. Karydis, I. Poulakakis, and H. G. Tanner, "A switching kinematic model for an octapedal robot," in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, oct. 2012, pp. 507-512.
16. A. Baisch, P. Sreetharan, and R. Wood, "Biologically-inspired locomotion of a 2g hexapod robot," in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, oct. 2010, pp. 5360-5365.
17. R. Wood, E. Steltz, and R. Fearing, "Optimal energy density piezoelectric bending actuators," Sensors and Actuators A: Physical, vol. 119, no. 2, pp. 476-488, 2005.
18. P. Sreetharan, J. Whitney, M. Strauss, and R. Wood, "Monolithic fabrication of millimeter-scale machines," Journal of Micromechanics and Microengineering, vol. 22, no. 5, p. 055027, 2012.
19. K. Hoffman and R. Wood, "Passive undulatory gaits enhance walking in a myriapod millirobot," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, sept. 2011, pp. 1479-1486.
20. J. A. Nelder and R. Mead, "A simplex method for function minimization," The computer journal, vol. 7, no. 4, pp. 308-313, 1965.