Parallel Complementary Strategies for Implementing Biological Principles into Mobile Robots

  title={Parallel Complementary Strategies for Implementing Biological Principles into Mobile Robots},
  author={Roger D. Quinn and Gabriel M. Nelson and Richard J. Bachmann and Daniel A. Kingsley and John T. Offi and Thomas J. Allen and Roy E. Ritzmann},
  journal={The International Journal of Robotics Research},
  pages={169 - 186}
Our goal is to use intelligent biological inspiration to develop robots that capture the capacity of animals to traverse complex terrain. We follow two distinct but complementary strategies to meet this goal. In one, we have produced a series of robots that have mechanical and control designs increasingly more similar to those of a cockroach. The leg designs of these robots ensure that they can generate movements used by the cockroach to walk and climb over a range of objects. However, in order… 
Convergent evolution and locomotion through complex terrain by insects, vertebrates and robots.
Bionic Limb Mechanism and Multi-Sensing Control for Cockroach Robots
Scientists have failed to find satisfactory explanation about cockroach's supreme performance and control ability in adverse conditions and it is foreseen that overcoming this difficulty will be an important breakthrough for many correlative subjects, lead to the emergence of new research methods, and promote the development of intelligent robot technology to the benefit of humankind.
Confluence of Active and Passive Control Mechanisms Enabling Autonomy and Terrain Adaptability for Robots in Variable Environments
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We report the successful design and fabrication of an autonomous robot, dubbed the CASE/NPS Beach Whegstrade robot, capable of navigating the challenging terrain of the non-submersed surf-zone region
Biologically Inspired Robots
In this article, Beer and his colleagues make a distinction between merely emulating some general feature of an animal like legs or wings and a more considered approach in which specific structural or functional elements of particular animals is emulated in hardware or software.
Design, simulation, and stability of a hexapedal running robot
The ability of animals to navigate rough terrain is currently unmatched by their man-made counterparts. Recent studies by biologists have begun to demonstrate some of the principles behind their
17 Biologically Inspired Robots
The idea of building machines that emulate features of animals that we see around us has a long history. Leonardo da Vinci’s drawings of machines that fly like birds are one familiar example. It was
Running over unknown rough terrain with a one-legged planar robot.
This study illustrates the relative advantages of utilizing a minimal-sensing, active energy removal control scheme to stabilize running over rough terrain.
Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles
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This paper presents an adaptable gait generation method which allows legged robots to walk in a stable fashion after they have shed a combination of legs. By using this technique, robots will be able
Central pattern generators with biology observation for the locomotion control of hexapod robots
This paper focuses on the control of hexapod locomotion based on a model of artificial central pattern generators (CPGs). CPG-based controllers are capable of producing coordinated patterns in open


Insect Designs for Improved Robot Mobility
This paper reviews work performed in the Biorobotics Lab at Case Western Reserve University, which has produced a series of robots that have mobility increasingly more similar to that of cockroach.
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A two-pronged approach is embarked on: one focusing on making improvements to electromechanical actuators and robot design, the other on walking algorithms and control.
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A control scheme called virtual model control, a motion control language that uses simulations of imagined mechanical components to create forces, which are applied through real joint torques, thereby creating the illusion that the virtual components are connected to the robot.
Leg Coordination Mechanisms in the Stick Insect Applied to Hexapod Robot Locomotion
Three of the mechanisms believed to be responsible for leg coordination in the stick insect, Carausius morosus, are used to control the straight-line locomotion of a hexapod robot on a smooth
What mechanisms coordinate leg movement in walking arthropods?
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The design and control of RHex is described, a power autonomous, untethered, compliant-legged hexapod robot that achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.
Architectures for a biomimetic hexapod robot
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Animals use springs in all three ways but there seems to be a need for more use of springs in legged robots, especially in robots designed to run fast.
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