期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 32, 期 7, 页码 859-869出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364913481690
关键词
bio-inspired robot; legged locomotion; granular media
类别
资金
- Burroughs Wellcome Fund
- Army Research Laboratory (ARL) Micro Autonomous Systems and Technology (MAST) Collaborative Technology Alliance (CTA)
- National Science Foundation (NSF) Physics of Living Systems (PoLS)
- Army Research Office (ARO)
- Direct For Mathematical & Physical Scien
- Division Of Physics [1150760] Funding Source: National Science Foundation
We study the locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of 3 mm diameter glass particles at speeds up to 5 body length/s, approaching the performance of certain desert-dwelling animals. To reveal how the robot achieves this performance, we used high-speed imaging to capture its kinematics, and developed a numerical multi-body simulation of the robot coupled to an experimentally validated simulation of the granular medium. Average speeds measured in experiment and simulation agreed well, and increased nonlinearly with stride frequency, reflecting a change in propulsion mode. At low frequencies, the robot used a quasi-static rotary walking mode, in which the substrate yielded as legs penetrated and then solidified once vertical force balance was achieved. At high frequencies the robot propelled itself using the speed-dependent fluid-like inertial response of the material. The simulation allows variation of parameters which are inconvenient to modify in experiment, and thus gives insight into how substrate and robot properties change performance. Our study reveals how lightweight animals can achieve high performance on granular substrates; such insights can advance the design and control of robots in deformable terrains.
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