Improved mobility through abstracted biological principles
Biological inspiration can be used to improve the mobility of vehicles, even those that are simplified and use current technology. One such hexapod robot called Whegs I is described. Mechanisms in its design permit it to move over various terrains and climb over small obstacles in a manner similar t...
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 2657 vol.3 |
|---|---|
| container_issue | |
| container_start_page | 2652 |
| container_title | |
| container_volume | 3 |
| creator | Quinn, R.D. Offi, J.T. Kingsley, D.A. Ritzmann, R.E. |
| description | Biological inspiration can be used to improve the mobility of vehicles, even those that are simplified and use current technology. One such hexapod robot called Whegs I is described. Mechanisms in its design permit it to move over various terrains and climb over small obstacles in a manner similar to a cockroach. It uses one motor for propulsion and two small servos for steering. Its appendages, called whegs, consist of three evenly spaced spokes. Passive compliance in its axles permits its nominal tripod gait to adapt to irregular terrain and evolve to co-activation for climbing. Basic locomotion control is implemented in its, mechanical design. A benefit of this mechanical simplicity is that its control system is also simplified. Drawbacks to the simplifications include the inability to change the body's posture and decrease overhead clearance. Some of these problems will be addressed in future versions without compromising the basic design. |
| doi_str_mv | 10.1109/IRDS.2002.1041670 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>pascalfrancis_6IE</sourceid><recordid>TN_cdi_ieee_primary_1041670</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>1041670</ieee_id><sourcerecordid>15671916</sourcerecordid><originalsourceid>FETCH-LOGICAL-c183t-3a4d7ae9fd5b11421733ac3794ea1c2ba34828170ee8f2245467484dce824b7b3</originalsourceid><addsrcrecordid>eNpFkE9LxDAUxAMiqOt-APHSi8fWvOS1SbzJ6mphQfDPeXlJ091I15akCvvtLVRwLnOYYfgxjF0BLwC4ua1fH94KwbkogCNUip-wC640l0oarc7YMqVPPgmxlMacs7v6MMT-xzfZobehC-MxG_ex_97tM7JpjOTGKbOh7_pdcNRlQwxfLgydT5fstKUu-eWfL9jH-vF99ZxvXp7q1f0md6DlmEvCRpE3bVNaABSgpCQnlUFP4IQliVpoUNx73QqBJVYKNTbOa4FWWblgN_PuQGkiaCNNAGk7gRwoHrdQVgoMVFPveu4F7_1_PN8gfwF7HFKP</addsrcrecordid><sourcetype>Index Database</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Improved mobility through abstracted biological principles</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Quinn, R.D. ; Offi, J.T. ; Kingsley, D.A. ; Ritzmann, R.E.</creator><creatorcontrib>Quinn, R.D. ; Offi, J.T. ; Kingsley, D.A. ; Ritzmann, R.E.</creatorcontrib><description>Biological inspiration can be used to improve the mobility of vehicles, even those that are simplified and use current technology. One such hexapod robot called Whegs I is described. Mechanisms in its design permit it to move over various terrains and climb over small obstacles in a manner similar to a cockroach. It uses one motor for propulsion and two small servos for steering. Its appendages, called whegs, consist of three evenly spaced spokes. Passive compliance in its axles permits its nominal tripod gait to adapt to irregular terrain and evolve to co-activation for climbing. Basic locomotion control is implemented in its, mechanical design. A benefit of this mechanical simplicity is that its control system is also simplified. Drawbacks to the simplifications include the inability to change the body's posture and decrease overhead clearance. Some of these problems will be addressed in future versions without compromising the basic design.</description><identifier>ISBN: 0780373987</identifier><identifier>ISBN: 9780780373983</identifier><identifier>DOI: 10.1109/IRDS.2002.1041670</identifier><language>eng</language><publisher>Piscataway NJ: IEEE</publisher><subject>Applied sciences ; Artificial intelligence ; Computer science; control theory; systems ; Control systems ; Control theory. Systems ; DC motors ; Exact sciences and technology ; Intelligent robots ; Leg ; Legged locomotion ; Mobile robots ; Pattern recognition. Digital image processing. Computational geometry ; Payloads ; Robotics ; Servomechanisms ; Servomotors ; Vehicles</subject><ispartof>IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, Vol.3, p.2652-2657 vol.3</ispartof><rights>2004 INIST-CNRS</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c183t-3a4d7ae9fd5b11421733ac3794ea1c2ba34828170ee8f2245467484dce824b7b3</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1041670$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1041670$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=15671916$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Quinn, R.D.</creatorcontrib><creatorcontrib>Offi, J.T.</creatorcontrib><creatorcontrib>Kingsley, D.A.</creatorcontrib><creatorcontrib>Ritzmann, R.E.</creatorcontrib><title>Improved mobility through abstracted biological principles</title><title>IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IRDS</addtitle><description>Biological inspiration can be used to improve the mobility of vehicles, even those that are simplified and use current technology. One such hexapod robot called Whegs I is described. Mechanisms in its design permit it to move over various terrains and climb over small obstacles in a manner similar to a cockroach. It uses one motor for propulsion and two small servos for steering. Its appendages, called whegs, consist of three evenly spaced spokes. Passive compliance in its axles permits its nominal tripod gait to adapt to irregular terrain and evolve to co-activation for climbing. Basic locomotion control is implemented in its, mechanical design. A benefit of this mechanical simplicity is that its control system is also simplified. Drawbacks to the simplifications include the inability to change the body's posture and decrease overhead clearance. Some of these problems will be addressed in future versions without compromising the basic design.</description><subject>Applied sciences</subject><subject>Artificial intelligence</subject><subject>Computer science; control theory; systems</subject><subject>Control systems</subject><subject>Control theory. Systems</subject><subject>DC motors</subject><subject>Exact sciences and technology</subject><subject>Intelligent robots</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Mobile robots</subject><subject>Pattern recognition. Digital image processing. Computational geometry</subject><subject>Payloads</subject><subject>Robotics</subject><subject>Servomechanisms</subject><subject>Servomotors</subject><subject>Vehicles</subject><isbn>0780373987</isbn><isbn>9780780373983</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2002</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkE9LxDAUxAMiqOt-APHSi8fWvOS1SbzJ6mphQfDPeXlJ091I15akCvvtLVRwLnOYYfgxjF0BLwC4ua1fH94KwbkogCNUip-wC640l0oarc7YMqVPPgmxlMacs7v6MMT-xzfZobehC-MxG_ex_97tM7JpjOTGKbOh7_pdcNRlQwxfLgydT5fstKUu-eWfL9jH-vF99ZxvXp7q1f0md6DlmEvCRpE3bVNaABSgpCQnlUFP4IQliVpoUNx73QqBJVYKNTbOa4FWWblgN_PuQGkiaCNNAGk7gRwoHrdQVgoMVFPveu4F7_1_PN8gfwF7HFKP</recordid><startdate>2002</startdate><enddate>2002</enddate><creator>Quinn, R.D.</creator><creator>Offi, J.T.</creator><creator>Kingsley, D.A.</creator><creator>Ritzmann, R.E.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope></search><sort><creationdate>2002</creationdate><title>Improved mobility through abstracted biological principles</title><author>Quinn, R.D. ; Offi, J.T. ; Kingsley, D.A. ; Ritzmann, R.E.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c183t-3a4d7ae9fd5b11421733ac3794ea1c2ba34828170ee8f2245467484dce824b7b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2002</creationdate><topic>Applied sciences</topic><topic>Artificial intelligence</topic><topic>Computer science; control theory; systems</topic><topic>Control systems</topic><topic>Control theory. Systems</topic><topic>DC motors</topic><topic>Exact sciences and technology</topic><topic>Intelligent robots</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Mobile robots</topic><topic>Pattern recognition. Digital image processing. Computational geometry</topic><topic>Payloads</topic><topic>Robotics</topic><topic>Servomechanisms</topic><topic>Servomotors</topic><topic>Vehicles</topic><toplevel>online_resources</toplevel><creatorcontrib>Quinn, R.D.</creatorcontrib><creatorcontrib>Offi, J.T.</creatorcontrib><creatorcontrib>Kingsley, D.A.</creatorcontrib><creatorcontrib>Ritzmann, R.E.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Quinn, R.D.</au><au>Offi, J.T.</au><au>Kingsley, D.A.</au><au>Ritzmann, R.E.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Improved mobility through abstracted biological principles</atitle><btitle>IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IRDS</stitle><date>2002</date><risdate>2002</risdate><volume>3</volume><spage>2652</spage><epage>2657 vol.3</epage><pages>2652-2657 vol.3</pages><isbn>0780373987</isbn><isbn>9780780373983</isbn><abstract>Biological inspiration can be used to improve the mobility of vehicles, even those that are simplified and use current technology. One such hexapod robot called Whegs I is described. Mechanisms in its design permit it to move over various terrains and climb over small obstacles in a manner similar to a cockroach. It uses one motor for propulsion and two small servos for steering. Its appendages, called whegs, consist of three evenly spaced spokes. Passive compliance in its axles permits its nominal tripod gait to adapt to irregular terrain and evolve to co-activation for climbing. Basic locomotion control is implemented in its, mechanical design. A benefit of this mechanical simplicity is that its control system is also simplified. Drawbacks to the simplifications include the inability to change the body's posture and decrease overhead clearance. Some of these problems will be addressed in future versions without compromising the basic design.</abstract><cop>Piscataway NJ</cop><pub>IEEE</pub><doi>10.1109/IRDS.2002.1041670</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISBN: 0780373987 |
| ispartof | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, Vol.3, p.2652-2657 vol.3 |
| issn | |
| language | eng |
| recordid | cdi_ieee_primary_1041670 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Applied sciences Artificial intelligence Computer science control theory systems Control systems Control theory. Systems DC motors Exact sciences and technology Intelligent robots Leg Legged locomotion Mobile robots Pattern recognition. Digital image processing. Computational geometry Payloads Robotics Servomechanisms Servomotors Vehicles |
| title | Improved mobility through abstracted biological principles |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-31T13%3A06%3A28IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-pascalfrancis_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Improved%20mobility%20through%20abstracted%20biological%20principles&rft.btitle=IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Quinn,%20R.D.&rft.date=2002&rft.volume=3&rft.spage=2652&rft.epage=2657%20vol.3&rft.pages=2652-2657%20vol.3&rft.isbn=0780373987&rft.isbn_list=9780780373983&rft_id=info:doi/10.1109/IRDS.2002.1041670&rft_dat=%3Cpascalfrancis_6IE%3E15671916%3C/pascalfrancis_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=1041670&rfr_iscdi=true |