Miniature modular legged robot with compliant backbones

buir.contributor.authorMahkam, Nima
buir.contributor.authorBakır, Alihan
buir.contributor.authorÖzcan, Onur
dc.citation.epage3930en_US
dc.citation.issueNumber3en_US
dc.citation.spage3923en_US
dc.citation.volumeNumber5en_US
dc.contributor.authorMahkam, Nima
dc.contributor.authorBakır, Alihan
dc.contributor.authorÖzcan, Onur
dc.date.accessioned2021-02-18T08:13:21Z
dc.date.available2021-02-18T08:13:21Z
dc.date.issued2020
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractSoft Modular Legged Robot (SMoLBot) is a miniature, foldable, modular, soft-hybrid legged robot with compliant backbones. SMoLBot's body and locomotion mechanisms are folded out of acetate sheets and its compliant connection mechanisms are molded from Polydimethylsiloxane (PDMS). High maneuverability and smooth walking pattern can be achieved in miniature robots if high stiffness kinematic parts are connected with compliant components, providing the robot structural compliance and better adaptability to different surfaces. SMoLBot is exploiting features from origami-inspired robots and soft robots, such as low weight and low cost foldable rigid structures and adaptable soft connection mechanisms made out of PDMS. Each single module in SMoLBot is actuated and controlled by two separate DC motors. This enables gait modification and higher degree of freedom on controlling the motion and body undulation of the robot in turning and rough terrain locomotion. Each module has 44.5 mm width, 16.75 mm length and 15 mm height, which is approximately the same size with two DC motors and a LiPo battery. The comparisons between robots with compliant and rigid backbones demonstrate smoother walking pattern, and approximate decrease in body's roll angle from 12° to 6°, and pitch from 10° to 7°. The independent actuation and control over each leg in n number of modules make SMoLBot an ideal candidate for gait studies. Moreover, the possibility of changing the structural stiffness of the robot with different backbones enables such a compliant modular robot to be used for locomotion optimization studies in miniature scale.en_US
dc.description.provenanceSubmitted by Onur Emek (onur.emek@bilkent.edu.tr) on 2021-02-18T08:13:21Z No. of bitstreams: 1 Miniature_Modular_Legged_Robot_With_Compliant_Backbones.pdf: 2204758 bytes, checksum: 09040c7ba655a885a051da8f17471d9a (MD5)en
dc.description.provenanceMade available in DSpace on 2021-02-18T08:13:21Z (GMT). No. of bitstreams: 1 Miniature_Modular_Legged_Robot_With_Compliant_Backbones.pdf: 2204758 bytes, checksum: 09040c7ba655a885a051da8f17471d9a (MD5) Previous issue date: 2020en
dc.description.sponsorshipThis work was supported by the Scientific and Technological Research Council of Turkey (TÜBİTAK) under Grant 116E177.en_US
dc.identifier.doi10.1109/LRA.2020.2982362en_US
dc.identifier.issn2377-3766
dc.identifier.urihttp://hdl.handle.net/11693/75429
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttps://dx.doi.org/10.1109/LRA.2020.2982362en_US
dc.source.titleIEEE Robotics and Automation Lettersen_US
dc.subjectSoft robot materials and designen_US
dc.subjectCellular and modular robotsen_US
dc.subjectLegged robotsen_US
dc.titleMiniature modular legged robot with compliant backbonesen_US
dc.typeArticleen_US

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