A Bio-inspired Reconfigurable Robot

被引：11

作者：

Tan, Ning ^{[1
]}

Elara, Mohan Rajesh ^{[2
]}

Elangovan, Karthikeyan ^{[3
]}

机构：

[1] Singapore Univ Technol & Design, SUTD MIT Int Design Ctr, 8 Somapah Rd, Singapore, Singapore

[2] Singapore Univ Technol & Design, Engn Prod Dev Pillar, 8 Somapah Rd, Singapore, Singapore

[3] Singapore Univ Technol & Design, Temasek Labs, 8 Somapah Rd, Singapore, Singapore

来源：

ADVANCES IN RECONFIGURABLE MECHANISMS AND ROBOTS II | 2016年 / 36卷

关键词：

Bio-inspired; Reconfigurable robotics; Spider robot; LOCOMOTION; DESIGN;

D O I：

10.1007/978-3-319-23327-7_42

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a reconfigurable biomimetic robot. The robot is able to mimic a kind of huntsman spiders which can crawl and roll by reforming its legs. Mechanical design, control architecture, motor selection targeting on miniaturization are presented in detail. Due to the reconfigurability of the legs, the robot can recover to the standing state from sideway and upside-down fallen states with the help of IMU. Moreover, the vision system enables the robot to change the locomotion by perceiving different terrains autonomously. The potential fields of applications of the proposed robot would be military, search and rescue, entertainment, etc.

引用

页码：483 / 493

页数：11

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