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Multimode locomotion via SuperBot robots

delete2024-10-30
delete33
PRE
AI
W
Weimin Shen
M
Maks Krivokon
H
Harris Chi Ho Chiu
J
Jacob Everist
M
Michael Rubenstein
J
J. Venkatesh
DOI：10.1109/ROBOT.2006.1642086delete
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Abstract

Abstract

En 中文
This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency and recoverability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN, CONRO and others. Experimental results, both in real robots and in simulation, have shown the validity of the approach and demonstrated the movements of forward, backward, turn, sidewinder, maneuver, and travel on batteries up to 500 meters on a flat terrain. In physics-based simulation. Superbot can perform as snake, caterpillar, insect, spider, rolling track, Hwalker, etc., and move 1.0 meter/second on flat terrain with less than 6W/module, and climb slopes of no less 40 degrees.
Keywords:
space robots
modular robots
self-reconfigurable and multifunctional robots
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Journal

I
IEEE International Conference on Robotics and Automation
IF:
0
Papers:
33
Citations:
0

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