A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion.

Abstract

The kinematic configuration and joint degrees of freedom for Robot III have been designed based upon motion studies of cockroach walking on smooth terrain and over barriers: 3 articulated joints (2 active) in the rear legs, 3 or 4 degrees of freedom in the middle leg, and 4 or 5 degrees of freedom in the front leg. The rear legs are used primarily to drive the cockroach, the middle legs are used for support and turning and to lift the body during climbing, and the front legs are typically used as sensors to help find footholds in climbing. A CAD model of the robot has been developed to help us design its overall structure (see figures). The weight of the robot should be under 20 lbs.

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Document Details

Document Type
Technical Report
Publication Date
Dec 18, 1996
Accession Number
ADA319249

Entities

People

  • Hillel J Chiel
  • Randall D. Beer
  • Roger D. Quinn
  • Roy D. Ritzmann

Organizations

  • Case Western Reserve University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Actuators
  • Autonomous Agents
  • Climbing
  • Electrical Engineering
  • Engineering
  • Genetic Algorithms
  • Information Operations
  • Lessons Learned
  • Models
  • Motor Neurons
  • Neural Networks
  • Neurons
  • Pneumatic Actuators
  • Robots
  • Simulations
  • Transitions
  • Universities

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy