Please use this identifier to cite or link to this item:
https://doi.org/10.1177/1729881416658180
Title: | Scorpio: A biomimetic reconfigurable rolling-crawling robot | Authors: | Tan, N Mohan, R.E Elangovan, K |
Keywords: | Biomimetics Landforms Mechanical actuators Reconfigurable hardware Robotics Robots Units of measurement Actuator selections Autonomous capability Autonomous systems Bio-inspired designs Control architecture Inertial measurement unit Reconfigurable Terrain perception Machine design |
Issue Date: | 2016 | Citation: | Tan, N, Mohan, R.E, Elangovan, K (2016). Scorpio: A biomimetic reconfigurable rolling-crawling robot. International Journal of Advanced Robotic Systems 13 (5) : 1-16. ScholarBank@NUS Repository. https://doi.org/10.1177/1729881416658180 | Rights: | Attribution 4.0 International | Abstract: | This paper presents the bio-inspired design, realization, and validation of a reconfigurable rolling-crawling robot. The developed platform is able to mimic Cebrennus rechenbergi, a species of huntsman spider which can crawl and roll using only its legs. Mechanical design, control architecture, and actuator selection strategies targeting platform miniaturization are presented in detail. The navigating and autonomous capabilities of the robot are examined in two facets: (1) recovery behaviors where a robot in a previously unknown state after a fall recovers autonomously to a known standing gait state using Inertial Measurement Unit (IMU); and (2) terrain perception where the robot is capable of autonomously assessing the characteristics of the terrain and chooses the appropriate morphology and locomotion mode in relation to the perceived terrain. @ SAGE Publications Ltd, unless otherwise noted. Manuscript content on this site is licensed under Creative Commons Licenses. | Source Title: | International Journal of Advanced Robotic Systems | URI: | https://scholarbank.nus.edu.sg/handle/10635/183317 | ISSN: | 17298806 | DOI: | 10.1177/1729881416658180 | Rights: | Attribution 4.0 International |
Appears in Collections: | Staff Publications Elements |
Show full item record
Files in This Item:
File | Description | Size | Format | Access Settings | Version | |
---|---|---|---|---|---|---|
10_1177_1729881416658180.pdf | 3.37 MB | Adobe PDF | OPEN | None | View/Download |
This item is licensed under a Creative Commons License