Latest Papers

ASME Journal of Mechanisms and Robotics

  • Robust Multilegged Walking Robots for Interactions With Different Terrains
    on May 26, 2023 at 12:00 am

    AbstractThis paper explores the kinematic synthesis, design, and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments interaction, specifically contact force direction and curvature constraints, related to maintaining contact. The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher-order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher-order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. Here we would like to note that one of the main advantages of the proposed method in comparison with other existing walking platforms is that the proposed robotic platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction. Additionally, while most of the existing multilegged platforms incorporate one actuator per leg, or per joint, our goal is to explore the possibility of using a single actuator to drive all six legs of the platform. This is a critical step which opens the door for the development of future transformative technology that is largely independent of human control and able to learn about the environment through their own sensory systems.

Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal


Homemade bombs made by terrorists threaten seriously the social public security. Now, it is still a challenge to guarantee safety without destroying bombs. Compared with the destructive explosive disposal approach employing rigid robots, we proposed an in-situ explosive disposal method, which takes advantage of an extensible continuum manipulator to pass through obstacles and cut wires by end-effector. The spring-based continuum manipulator has six-degrees-of-freedom and is 400 mm in length but only 15 mm in diameter. Also, we have created only a 15 g end-effector that can cut 1-mm-diameter copper wire and embed a miniature camera. According to the experiment, a single continuum manipulator has around 2 mm repeatability accuracy and can carry a 50 g weight. Without special training, the operator can control the integrated explosive ordnance disposal (EOD) robot to complete a simulation mission in approximately five minutes. This paper broadens the application of the continuum manipulator and gives a unique solution for EOD robots.

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