Robot locomotion

Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics. A major goal in this field is in developing capabilities for robots to autonomously decide how, when, and where to move. However, coordinating numerous robot joints for even simple matters, like negotiating stairs, is difficult. Autonomous robot locomotion is a major technological obstacle for many areas of robotics, such as humanoids (like Honda's Asimo). Types of locomotion Walking

See Passive dynamics
See Zero Moment Point
See Leg mechanism
See Hexapod (robotics)

Walking robots simul

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Introduction to discrete modelling : Modelling slithering locomotion

Meriton Beqiraj

The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques for moving their bodies such as unilateral contraction/extension of their belly, accordion-like, side-winding or lateral undulation of the body. This report will focus on the last gait mentioned. Studies have already shown how snakes move around push points and applications to wheeled-snake robots have been made. However in some cases snakes may have to move their body over flat surfaces without any rocks or branches to push on. From that observation, the need for a new model considering frictional anisotropy is raised. A mathematical model for slithering locomotion based on frictional anisotropy with all the assumptions implied will firstly be addressed. Then some elements of the work will be kept and focus particularly on the friction force will be put in order to get a better understanding of its need and origin through two models. To conclude, the anisotropy will be seen in the context of biotribology.

2018

Legged robot locomotion based on free vibration

Nitesh Maheshwari

Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requires a radically new approach in the design and control processes. From this perspective, we have been exploring a novel approach to design and control of legged robots which makes use of free vibration of elastic curved beams. We found that this approach not only simplifies the design and manufacturing processes of locomotion robots, but also substantially improves their energy efficiency, which is comparable to those of animals. In this paper, we explain the novelty and principles of this approach through the four representative case studies that we have been exploring, and discuss challenges and perspectives toward the future. © 2012 IEEE.

2012

A Novel Mechanism for Varying Stiffness Via Changing Transmission Angle

Lijin Aryananda, Rolf Pfeifer

Compliant actuation contributes enormously in legged locomotion robotics since it is able to alleviate control efforts in improving the robot’s adaptability and energy efficiency. In this paper, we present a novel design of a variable stiffness rotary actuator, called MESTRAN, which was especially targeted to address the limitations in terms of the amount of energy and time required to vary the stiffness of an actuated joint. We have constructed a mechanical model in simulation and a physical prototype. We conducted a series of experiments to validate the performance of the MESTRAN actuator prototype. The results from the simulation and experiments show that MESTRAN allows independent control of stiffness and position of an actuated rotary joint with a large operational range and high speed. The torque-displacement relationship is close to linear. Lastly, the MESTRAN actuator is energy-efficient since a certain stiffness level is maintained without energy input.

2011

Terrestrial locomotion

Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced b

Legged robot

Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terra

Motion planning

Motion planning, also path planning (also known as the navigation problem or the piano mover's problem) is a computational problem to find a sequence of valid configurations that moves the object from

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MICRO-452: Basics of mobile robotics

The course teaches the basics of autonomous mobile robots. Both hardware (energy, locomotion, sensors) and software (signal processing, control, localization, trajectory planning, high-level control) will be tackled. The students will apply the knowledge to program and control a real mobile robot.

MICRO-453: Robotics practicals

The goal of this lab series is to practice the various theoretical frameworks acquired in the courses on a variety of robots, ranging from industrial robots to autonomous mobile robots, to robotic devices, all the way to interactive robots.