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Toward Mission Capable Legged Robots through Biological Inspiration

Toward Mission Capable Legged Robots through Biological Inspiration Insects provide good models for the design and control of mission capable legged robots. We are using intelligent biological inspiration to extract the features important for locomotion from insect neuromechanical designs and implement them into legged robots. Each new model in our series of robots represents an advance in agility, strength, or energy efficiency, which are all important for performing missions. Robot IV is being constructed with a cockroach mechanical design. It features a lightweight exoskeleton structure and McKibben artificial muscles for passive joint stiffness. Our self-contained microrobot has rear legs that are inspired by cricket. Its diminutive size required us to custom fabricate almost all of its parts, including its McKibben actuators. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Toward Mission Capable Legged Robots through Biological Inspiration

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References (28)

Publisher
Springer Journals
Copyright
Copyright © 2001 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1012478704769
Publisher site
See Article on Publisher Site

Abstract

Insects provide good models for the design and control of mission capable legged robots. We are using intelligent biological inspiration to extract the features important for locomotion from insect neuromechanical designs and implement them into legged robots. Each new model in our series of robots represents an advance in agility, strength, or energy efficiency, which are all important for performing missions. Robot IV is being constructed with a cockroach mechanical design. It features a lightweight exoskeleton structure and McKibben artificial muscles for passive joint stiffness. Our self-contained microrobot has rear legs that are inspired by cricket. Its diminutive size required us to custom fabricate almost all of its parts, including its McKibben actuators.

Journal

Autonomous Robots – Springer Journals

Published: Oct 19, 2004

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