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
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This item is licensed under a Creative Commons License Creative Commons