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dc.contributor.authorLi, Chenen_US
dc.contributor.authorHoover, Aaron M.en_US
dc.contributor.authorBirkmeyer, Paulen_US
dc.contributor.authorUmbanhowar, Paul B.en_US
dc.contributor.authorFearing, Ronald S.en_US
dc.contributor.authorGoldman, Daniel I.en_US
dc.date.accessioned2012-08-03T17:13:51Z
dc.date.available2012-08-03T17:13:51Z
dc.date.issued2010-04
dc.identifier.citationChen Li, Aaron M. Hoover, Paul Birkmeyer, Paul B. Umbanhowar, Ronald S. Fearing, and Daniel I. Goldman, "Systematic study of the performance of small robots on controlled laboratory substrates," Proceedings of SPIE, 7679, 76790Z, (2010)en_US
dc.identifier.isbn9780819481436
dc.identifier.issn0277-786X
dc.identifier.urihttp://hdl.handle.net/1853/44526
dc.descriptionPresented at Micro- and nanotechnology sensors, systems, and applications II 5-9 April 2010, Orlando, Florida, United States.en_US
dc.descriptionDOI: 10.1117/12.851047en_US
dc.description©2010 SPIE--The International Society for Optical Engineering. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. The electronic version of this article is the complete one and can be found online at: http://dx.doi.org/10.1117/12.851047en_US
dc.description.abstractThe 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectLegged locomotionen_US
dc.subjectHard grounden_US
dc.subjectGranular mediaen_US
dc.subjectCost of transporten_US
dc.subjectRobot designen_US
dc.subjectGround modelingen_US
dc.titleSystematic study of the performance of small robots on controlled laboratory substratesen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Physicsen_US
dc.contributor.corporatenameUniversity of California, Berkeley. Dept. of Electrical Engineering and Computer Sciencesen_US
dc.contributor.corporatenameNorthwestern University. Dept. of Mechanical Engineeringen_US
dc.publisher.originalSociety of Photo-optical Instrumentation Engineers (SPIE)en_US


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