| Title | Design, Fabrication, and Characterization of a Hybrid Bionic Spherical Robotics With Multilegged Feedback Mechanism |
| Authors | Zheng, Jiaxi Xu, Peng Meng, Zhaochen Liu, Jianhua Wang, Siyuan Wang, Xinyu Xie, Guangming Tao, Jin Xu, Minyi |
| Affiliation | Dalian Maritime Univ, Marine Engn Coll, Dalian 116026, Peoples R China Peking Univ, Coll Engn, Intelligent Biomimet Design Lab, Beijing 100871, Peoples R China Nankai Univ, Coll Artif Intelligence, Tianjin 300350, Peoples R China Aalto Univ, Dept Elect Engn & Automat, Espoo 02100, Finland |
| Keywords | CENTRAL PATTERN GENERATORS LOCOMOTION |
| Issue Date | Oct-2022 |
| Publisher | IEEE ROBOTICS AND AUTOMATION LETTERS |
| Abstract | Spherical robots have many desirable traits when designing mass efficient systems interacted with unstructured terrain. In this letter, we propose a hybrid bionic spherical robot based on the morphological properties of sea urchins and the movement characteristics of tumbleweeds. This robot enables it to move freely in harsh terrain with the distributed high-aspect-ratio telescopic units, where our control strategy is based on a central pattern generator, and combines foot pressure measurements and actuator state information. In particular, these data from multiple foot pressure sensors also are used to compute the robots' center of mass, with evaluating locomotion state during rolling maneuvers. The experimental results show the ability of our design to provide reliable pose estimates, also overcoming a challenge in the field of mobile robotics, including switch directions flexibly in harsh terrain due to their anisotropy. |
| URI | http://hdl.handle.net/20.500.11897/650364 |
| ISSN | 2377-3766 |
| DOI | 10.1109/LRA.2022.3187514 |
| Indexed | SCI(E) |
| Appears in Collections: | 工学院 |
