• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Complex Rheology and Biomechanics Lab (CRAB LAB)
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Complex Rheology and Biomechanics Lab (CRAB LAB)
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Systematic study of the performance of small robots on controlled laboratory substrates

    Thumbnail
    View/Open
    spie2010.pdf (1.393Mb)
    Date
    2010-04
    Author
    Li, Chen
    Hoover, Aaron M.
    Birkmeyer, Paul
    Umbanhowar, Paul B.
    Fearing, Ronald S.
    Goldman, Daniel I.
    Metadata
    Show full item record
    Abstract
    The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which can yield and flow in response to loading. To advance our understanding of the relevant modeling and design issues, we conduct a comparative study of the performance of DASH and RoACH, two small, biologically inspired, six legged, lightweight (~ 10 cm, ~ 20 g) robots fabricated using the smart composite microstructure (SCM) process. We systematically examine performance of both robots on rigid and °owing substrates. Varying both ground properties and limb stride frequency, we investigate average speed, mean mechanical power and cost of transport, and stability. We find that robot performance and stability is sensitive to the physics of ground interaction: on hard ground kinetic energy must be managed to prevent yaw, pitch, and roll instability to maintain high performance, while on sand the fluidizing interaction leads to increased cost of transport and lower running speeds. We also observe that the characteristic limb morphology and kinematics of each robot result in distinct differences in their abilities to traverse different terrains. Our systematic studies are the first step toward developing models of interaction of limbs with complex terrain as well as developing improved limb morphologies and control strategies.
    URI
    http://hdl.handle.net/1853/44526
    Collections
    • Complex Rheology and Biomechanics Lab (CRAB LAB) [37]
    • Complex Rheology and Biomechanics Lab (CRAB LAB) Publications [37]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology