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Bio-inspired robot design with compl...

Kim, Sangbae.

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Bio-inspired robot design with compliant underactuated systems.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Bio-inspired robot design with compliant underactuated systems./
作者:	Kim, Sangbae.
面頁冊數:	125 p.
附註:	Adviser: Mark Cutkosky.
Contained By:	Dissertation Abstracts International69-02B.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3302841
ISBN:	9780549490074

Bio-inspired robot design with compliant underactuated systems.
Kim, Sangbae.

Bio-inspired robot design with compliant underactuated systems. - 125 p.

Adviser: Mark Cutkosky.

Thesis (Ph.D.)--Stanford University, 2008.

Mobile robot designers are increasingly searching for inspiration and design cues from biological models. Biomechanical studies of running animals underscore the importance of the passive properties of muscles, tendons and other elements of the musculoskeletal system. These elements play significant roles in self stabilization and elastic energy storage, resulting in smoother and more efficient locomotion. Although the animals' systems are extremely complex, they frequently behave as though following a simpler dynamic template when executing repetitive motions, as in walking, running or climbing. Consequently, for operation under limited circumstances, a bio-inspired robot often needs only to match a simplified approximation to the animal's behavior.

ISBN: 9780549490074Subjects--Topical Terms:

783786
Engineering, Mechanical.

Bio-inspired robot design with compliant underactuated systems.
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502 $a Thesis (Ph.D.)--Stanford University, 2008.
520 $a Mobile robot designers are increasingly searching for inspiration and design cues from biological models. Biomechanical studies of running animals underscore the importance of the passive properties of muscles, tendons and other elements of the musculoskeletal system. These elements play significant roles in self stabilization and elastic energy storage, resulting in smoother and more efficient locomotion. Although the animals' systems are extremely complex, they frequently behave as though following a simpler dynamic template when executing repetitive motions, as in walking, running or climbing. Consequently, for operation under limited circumstances, a bio-inspired robot often needs only to match a simplified approximation to the animal's behavior.
520 $a This observation motivates the use of under-actuated compliant mechanisms, in which a modest number of independently controlled actuators are augmented with passive compliant elements. The resulting mechanisms can execute periodic trajectories that are functions of external loads, as well as actuator inputs, to approximate the behaviors seen in nature.
520 $a Underactuated compliant mechanisms also afford practical advantages to the robot designer. The elastic elements provide a lower mechanical impedance and allow for better force control when paired with geared servo motors. They also increase the physical robustness of the mechanisms and isolate the motors from shock when unexpected impacts occur.
520 $a Guided by these considerations, this thesis explores a particular class of underactuated compliant mechanism that is particularly suitable for the legs of small bio-inspired robots. The thesis begins by establishing the general motivation, terminology and analysis framework for this class of mechanism. The subsequent chapters explore applications of the approach through three bio-inspired robots. The compliant mechanisms used in each of the three robots are created using a multi-material rapid-prototyping process, Shape Deposition Manufacturing, which allows hard and soft materials to be combined in a single structure.
520 $a The first of three robot examples is iSprawl, a cockroach-inspired hexapod with compliant, underactuated legs. Passive hip joints and a light and flexible push-pull cable transmission in the axial direction allow the legs to cycle very rapidly for a 14Hz stride frequency. Tuning of the leg properties, based on high-speed video observations and force measurements, allowed the speed of iSprawl to increase from five to fifteen body-lengths per second. The second bio-inspired robot example is Spinybot, a hexapod that climbs rough surfaces including stucco, concrete and brick walls using toes with miniature spines. An underactuated leg mechanism cycles the toes through a sequence of contacting the wall, engaging the spines, applying loads, disengaging the spines and repositioning the foot at each step. Nonlinear compliances in the toe linkages help to distribute forces and keep the spines engaged for reliable climbing. The third robot is Stickybot, a gecko-inspired quadruped that climbs smooth vertical surfaces using directional dry adhesion. Stickybot contains several types of underactuated mechanisms in its body, legs and toes. At the smallest length scale, the undersides of the toes are covered with a unique material called directional polymeric stalks, inspired by the directional setae and lamellae of the gecko. The combination of directional adhesion and a hierarchy of compliant mechanisms allows Stickybot to distribute forces evenly over the toes and to attach and detach its feet from surfaces with a minimum of effort. The result is very smooth, gecko-like climbing, achieved with a simple control system.
590 $a School code: 0212.
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