Robot Locomotion Information
Robot locomotion is the study of how to design robot appendages and control mechanisms to allow robots to move fluidly and efficiently. Although wheeled robots are typically quite energy efficient and simple to control, other forms of locomotion may be more appropriate for a number of reasons (e.g. traversing rough terrain, moving and interacting in human environments). Furthermore, studying biped and insect-like robots may impact biomechanics.
A major goal in this field is in developing capabilities for robots to autonomously decide how, when, and where to move. However, coordinating a large number of robot joints for even simple matters, like negotiating stairs, is difficult. Autonomous robot locomotion is a major technological obstacle for many areas of robotics, such as humanoids (like Honda's Asimo).
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Types of Locomotion
Wheeled
In terms of energy efficiency on flat surfaces, wheeled robots are the most efficient. This is due to the fact that an ideal rolling (but not slipping) wheel loses no energy. A wheel rolling at a given velocity needs no input to maintain its motion. This is in contrast to legged robots which suffer an impact with the ground at heelstrike and lose energy as a result.
There are many different types of wheeled robots, the most common being the Reed Shepps type and the unicycle type. The major concern in the motion planning of wheeled robots are the holonomic that the robot is subject to. These are decided by the type of wheels, number of wheels and the direction of the axes of rotation of the wheels.
Examples
- iRobot's Rhoomba
- Various DARPA Grand Challenge entries
- MobileRobot's Pioneer P3-DX
Walking
Bipedal Walking
Running
Rolling
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Hopping
Metachronal motion
Coordinated, sequential mechanical action having the appearance of a traveling wave is called a metachronal rhythm or wave, and is employed in nature by ciliates for transport, and by worms arthropods for locomotion.
Snaking
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Brachiating
- See Brachiation
Approaches
- Gait engineering
- Product optimization
- Motion planning
- Motion capture may be performed on humans, insects and other organisms.
- Machine learning, typically with reinforcement learning.
List of Robots
- Honda's ASIMO - A walking and running biped.
- Boston Dynamics' BigDog - A quadruped that can run on rough terrain.
- JPL's ATHLETE (All-Terrain Hex-Legged Extra-Terrestrial Explorer) - a six-legged robot with wheels on its legs, allowing it to walk and roll.
- Salamandra Robotica - A salamander robot that can both walk and swim.
List of Researchers
- Rodney Brooks
- Marc Raibert
- Jessica Hodgins
- Kenneth Waldron
- Auke Jan Ijspeert
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Categories: Robotics |
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