BibTex RIS Kaynak Göster
Yıl 2011, Cilt: 3 Sayı: 1, 1 - 10, 01.03.2011

Öz

Kaynakça

  • Autumn, K., Buehler, M., Cutkosky, M., Fearing, R. Full, R.J., Goldman, D., Grofi, R., Provancher, W., Rizzi, A.A., Saranli, U., Saunders, A. Koditschek, D.E.: Robotics in scansorial environments. In: Proceedings of SPIE 2005. (2005) 291-302
  • Raibert, M.: Legged robots that balance. MIT Press Series in Artificial Intelligence. MIT Press, Boston (1986)
  • Raibert, M., Blankespoor, K., Nelson, G., Playter, R.: Bigdog, the rough-terrain quaduped robot. In: Proceedings of the 17th International Federation of Automation Control. (April 2008)
  • Saranli, U., Buehler, M., Koditschek, D.E.: Rhex - a simple and highly mobile hexapod robot. International Journal of Robotics Research 20(7) (2001) 616-631
  • Bekker, M.G.: Theory of land locomotion: the mechanics of vehicle mobility. University of Michigan Press, Ann Arbor, MI (1962)
  • Wikipedia: The wheel. http://en.wikipedia.org/wiki/Wheel (2004) An online encyclopedia.
  • Wong, J.Y.: Theory of Ground Vehicles. 2nd edition edn. Wiley and Sons, Inc. (1993)
  • Blickhan, R., Full, R.J.: Similarity in multilegged locomotion: Bouncing like a monopode. Journal of Comparative Physiology 173 (1993) 509-517
  • Aristotle: On the motion of animals. Translated by A. S. L. Farquharson (350BC) http://classics.mit.edu/Aristotle/motion animals.html.
  • Aristotle: On the parts of animals. Translated by William Ogle (350BC) http://classics.mit.edu/Aristotle/parts animals.html.
  • Vinci, L.: Cannon of Proportions. (1490)
  • Doyon, A.: Jacques Vaucanson, mecanicien de genie. Presses universitaires de France (1967)
  • Bachman, R.J., Nelson, G.M., Flannigan, W.C., Quinn, R.D.,Watson, J.T., Tryba, A.K., Ritzmann, R.E.: Construction of a cockroach-like hexapod robot. In: Eleventh VPI and SU Symposium on Structural Dynamics and Control, Blacks-burg, VA (May 1997) 647-654
  • Ahn, A.N., Full, R.J.: A motor and a brake: two leg extensor muscles acting at the same joint manage energy differently in a running insect. The Journal of Experimental Biology 205 (2002) 379-389
  • Bassler, U., Buschges, A.: Pattern generation for stick insect walking movements, multisensory control of a locomotor program. Brain Research Reviews 27 (1998) 65- 88
  • Dickinson, M.H., Farley, C.T., Full, R.J., Koehl, M.A.R., Kram, R., Lehman, S.: How animals move: An integrative view. Science (2000)
  • Farley, C.t., Glasheen, J., McMahon, T.A.: Running springs: Speed and animal size. Journal of Experimental Biology 185 (1993) 71-86
  • Full, R.J., Koditschek, D.E.: Templates and anchors: Neuromechanical hypotheses of legged locomotion. The Journal of Experimental Biology 202(23) (1999) 3325-3332
  • Blickhan, R.: The spring-mass model for running and hopping. Journal of Biomechanics 22(11/12) (1989) 1217-1227
  • Ahmadi, M., Buehler, M.: Stable control of a simulated one-legged running robot with hip and leg compliance. Transactions on Robotics and Automation 13 (Feb 1996) 96- 104
  • Brown, B., Zeglin, G.: The bow leg hopping robot. In: Proceedings of International Conference on Robotics and Automation. (1998)
  • McBride, B., Longoria, R., Krotkov, E.: Off-road mobility of small robotic ground vehicles. Measuring the Performance and Intelligence of Systems: Proceedings of the 2003 PerMIS Workshop NIST Special Publication 1014 (September 16-18 2003) 405- 412 Edited by Messina, E. and Meystel, A.
  • Weingarten, J.D., Koditschek, D.E., Komsuoglu, H., Massey, C.: Robotics as the delivery vehicle: A contexualized, social, self paced, engineering education for lifelong learners. In: Proceedings of Robotics and System Science Conference. (2007)
  • Komsuoglu, H., Sohn, K., Full, R.J., Koditschek, D.E.: A physical model for dynamical arthropod running on level ground. In: Proceedings of 11th International Symposium on Experimental Robotics. (2008)
  • Li, C., Umbanhowar, P.B., Komsuoglu, H., Koditschek, D.E., Goldman, D.I.: Sensitive dependence of the motion of a legged robot on granular media. Proceedings of National Academy of Science (PNAS) 106(9) (February 2009) 3029-3034
  • Altendorfer, R., Saranli, U., Komsuoglu, H., Koditschek, D.E., Brown, J.H.B., Buehler, M., Moore, N., McMordie, D., Full, R.: Evidence for spring loaded inverted pendulum running in a hexapod robot. In: Proceedings on International Symposium on Experimental Robotics. (2000)
  • Spagna, J.C., Goldman, D.I., Lin, P.C., Koditschek, D.E., Full, R.J.: Distributed feet enhance mobility in many-legged animals and robots. Journal of Bioinspiration and Biomimetics 2(1) (March 2007) 9-18 10
  • Campbell, D., Buehler, M.: Preliminary bounding experiments in a dynamic hexapod. In Siciliano, B., Dario, P., eds.: Experimental Robotics. Springer-Verlag (2003) 612-621
  • Raibert, M.H.: Trotting, pacing and bounding by a quadruped robot. Journal of Biomechanics 23(Supplement 1) (1990) 79-98
  • Gustafsson, F.: Slip-based tire-road friction estimation. In: Automatica. Elsevier (1997)
  • Katz, D., Horrell, E., Yang, Y., Burns, B., Buckley, T., Grishkan, A., Zhylkovskyy, V., Brock, O., Learned-Miller, E.: The umass mobile manipulator uman: An experimental platform for autonomous mobile manipulation. In: Workshop on Manipulation in Human Environments at Robotics: Science and Systems. (2006)
  • Weingarten, J.D., Lopes, G.A.D., Buehler, M., E., G.R., Koditscheck, D.E.: Automated gait adaptation for legged robots. In: Int. Conf. Robotics and Automation, New Orleans, USA, IEEE (2004)
  • McMordie, D., Buehler, M.: Towards pronking with a hexapod robot. In: Proceedings of 4th International Conference on Climbing and Walking Robots, Germany (September 2001)
  • Neville, N.: Bipedal running with one actuator per leg. Master's thesis, McGill University (2005)
  • Moore, E.: Leg design and stair climbing control for the rhex robotic hexapod. Master's thesis, McGill University (November 2001)
  • Komsuoglu, H.: Leaping behavior for a hexapod robot. Experimental work presented at DARPA-SwRI 2003 (2003)
  • Prahacs, C., Saunders, A., Smith, M.K., McMordie, D., Buehler, M.: Towards legged amphibious mobile robotics. Journal of Engineering Design and Innovation 1P (2005)
  • Balasubramanian, R., Rizzi, A.A., Mason, M.T.: Legless locomotion: A novel locomotion technique for legged robots. International Journal of Robotics Research 27(5) (2008) 575-594
  • Saranli, U., Rizzi, A., Koditschek, D.E.: Model-based dynamic self-righting maneuvers for a hexapedal robot. International Journal of Robotics Research 23(9) (September 2004) 903-918
  • Komsuoglu, H., McMordie, D., Saranli, U., Moore, N., Buehler, M., Koditschek, D.E.: Proprioception based behavioral advances in a hexapod robot. In: Proceedings of International Conference on Robotics and Automation, Seoul, Korea (2001)
  • Haynes, G.C., Rizzi, A.: Gaits and gait transitions for legged robots. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06). (May 2006)
  • Lin, P.C., Komsuoglu, H., Koditschek, D.E.: Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits. IEEE Transactions on Robotics 22(5) (October 2006) 932-943
  • Kerdok, A.E., Biewener, A.A., McMahon, T.A., Weyand, P.G., Herr, H.M.: Energetics and mechanics of human running on surfaces of different stiffnesses. Journal of Applied Physiology 92 (2002) 469-478
  • Dawkins, R.: The selfish gene. Oxford Press, New York (1989).

DYNAMIC LEGGED MOBILITY | AN OVERVIEW

Yıl 2011, Cilt: 3 Sayı: 1, 1 - 10, 01.03.2011

Öz

Ability to translate to a goal position under the constraints imposed by complex environmental conditions is a key capability for biological and artificial systems alike. Over billions of years evolutionary processes have developed a wide range of solutions to address mobility needs in air, in water and on land. The efficacy of such biological locomotors is beyond the capabilities of engineering solutions that has been produced to this date. Nature has been and will surely remain to be a source of inspiration for engineers in their quest to bring "real mobility" to their creations. In recent years a new class of dynamic legged terrestrial robotic systems [1, 4] have been developed inspired by, but without mimicking, the examples from the Nature. The experimental work with these platforms over the past decade has led to an improved appreciation of legged locomotion. This paper is an overview of fundamental advantages dynamic legged locomotion offers over the classical wheeled and tracked approaches

Kaynakça

  • Autumn, K., Buehler, M., Cutkosky, M., Fearing, R. Full, R.J., Goldman, D., Grofi, R., Provancher, W., Rizzi, A.A., Saranli, U., Saunders, A. Koditschek, D.E.: Robotics in scansorial environments. In: Proceedings of SPIE 2005. (2005) 291-302
  • Raibert, M.: Legged robots that balance. MIT Press Series in Artificial Intelligence. MIT Press, Boston (1986)
  • Raibert, M., Blankespoor, K., Nelson, G., Playter, R.: Bigdog, the rough-terrain quaduped robot. In: Proceedings of the 17th International Federation of Automation Control. (April 2008)
  • Saranli, U., Buehler, M., Koditschek, D.E.: Rhex - a simple and highly mobile hexapod robot. International Journal of Robotics Research 20(7) (2001) 616-631
  • Bekker, M.G.: Theory of land locomotion: the mechanics of vehicle mobility. University of Michigan Press, Ann Arbor, MI (1962)
  • Wikipedia: The wheel. http://en.wikipedia.org/wiki/Wheel (2004) An online encyclopedia.
  • Wong, J.Y.: Theory of Ground Vehicles. 2nd edition edn. Wiley and Sons, Inc. (1993)
  • Blickhan, R., Full, R.J.: Similarity in multilegged locomotion: Bouncing like a monopode. Journal of Comparative Physiology 173 (1993) 509-517
  • Aristotle: On the motion of animals. Translated by A. S. L. Farquharson (350BC) http://classics.mit.edu/Aristotle/motion animals.html.
  • Aristotle: On the parts of animals. Translated by William Ogle (350BC) http://classics.mit.edu/Aristotle/parts animals.html.
  • Vinci, L.: Cannon of Proportions. (1490)
  • Doyon, A.: Jacques Vaucanson, mecanicien de genie. Presses universitaires de France (1967)
  • Bachman, R.J., Nelson, G.M., Flannigan, W.C., Quinn, R.D.,Watson, J.T., Tryba, A.K., Ritzmann, R.E.: Construction of a cockroach-like hexapod robot. In: Eleventh VPI and SU Symposium on Structural Dynamics and Control, Blacks-burg, VA (May 1997) 647-654
  • Ahn, A.N., Full, R.J.: A motor and a brake: two leg extensor muscles acting at the same joint manage energy differently in a running insect. The Journal of Experimental Biology 205 (2002) 379-389
  • Bassler, U., Buschges, A.: Pattern generation for stick insect walking movements, multisensory control of a locomotor program. Brain Research Reviews 27 (1998) 65- 88
  • Dickinson, M.H., Farley, C.T., Full, R.J., Koehl, M.A.R., Kram, R., Lehman, S.: How animals move: An integrative view. Science (2000)
  • Farley, C.t., Glasheen, J., McMahon, T.A.: Running springs: Speed and animal size. Journal of Experimental Biology 185 (1993) 71-86
  • Full, R.J., Koditschek, D.E.: Templates and anchors: Neuromechanical hypotheses of legged locomotion. The Journal of Experimental Biology 202(23) (1999) 3325-3332
  • Blickhan, R.: The spring-mass model for running and hopping. Journal of Biomechanics 22(11/12) (1989) 1217-1227
  • Ahmadi, M., Buehler, M.: Stable control of a simulated one-legged running robot with hip and leg compliance. Transactions on Robotics and Automation 13 (Feb 1996) 96- 104
  • Brown, B., Zeglin, G.: The bow leg hopping robot. In: Proceedings of International Conference on Robotics and Automation. (1998)
  • McBride, B., Longoria, R., Krotkov, E.: Off-road mobility of small robotic ground vehicles. Measuring the Performance and Intelligence of Systems: Proceedings of the 2003 PerMIS Workshop NIST Special Publication 1014 (September 16-18 2003) 405- 412 Edited by Messina, E. and Meystel, A.
  • Weingarten, J.D., Koditschek, D.E., Komsuoglu, H., Massey, C.: Robotics as the delivery vehicle: A contexualized, social, self paced, engineering education for lifelong learners. In: Proceedings of Robotics and System Science Conference. (2007)
  • Komsuoglu, H., Sohn, K., Full, R.J., Koditschek, D.E.: A physical model for dynamical arthropod running on level ground. In: Proceedings of 11th International Symposium on Experimental Robotics. (2008)
  • Li, C., Umbanhowar, P.B., Komsuoglu, H., Koditschek, D.E., Goldman, D.I.: Sensitive dependence of the motion of a legged robot on granular media. Proceedings of National Academy of Science (PNAS) 106(9) (February 2009) 3029-3034
  • Altendorfer, R., Saranli, U., Komsuoglu, H., Koditschek, D.E., Brown, J.H.B., Buehler, M., Moore, N., McMordie, D., Full, R.: Evidence for spring loaded inverted pendulum running in a hexapod robot. In: Proceedings on International Symposium on Experimental Robotics. (2000)
  • Spagna, J.C., Goldman, D.I., Lin, P.C., Koditschek, D.E., Full, R.J.: Distributed feet enhance mobility in many-legged animals and robots. Journal of Bioinspiration and Biomimetics 2(1) (March 2007) 9-18 10
  • Campbell, D., Buehler, M.: Preliminary bounding experiments in a dynamic hexapod. In Siciliano, B., Dario, P., eds.: Experimental Robotics. Springer-Verlag (2003) 612-621
  • Raibert, M.H.: Trotting, pacing and bounding by a quadruped robot. Journal of Biomechanics 23(Supplement 1) (1990) 79-98
  • Gustafsson, F.: Slip-based tire-road friction estimation. In: Automatica. Elsevier (1997)
  • Katz, D., Horrell, E., Yang, Y., Burns, B., Buckley, T., Grishkan, A., Zhylkovskyy, V., Brock, O., Learned-Miller, E.: The umass mobile manipulator uman: An experimental platform for autonomous mobile manipulation. In: Workshop on Manipulation in Human Environments at Robotics: Science and Systems. (2006)
  • Weingarten, J.D., Lopes, G.A.D., Buehler, M., E., G.R., Koditscheck, D.E.: Automated gait adaptation for legged robots. In: Int. Conf. Robotics and Automation, New Orleans, USA, IEEE (2004)
  • McMordie, D., Buehler, M.: Towards pronking with a hexapod robot. In: Proceedings of 4th International Conference on Climbing and Walking Robots, Germany (September 2001)
  • Neville, N.: Bipedal running with one actuator per leg. Master's thesis, McGill University (2005)
  • Moore, E.: Leg design and stair climbing control for the rhex robotic hexapod. Master's thesis, McGill University (November 2001)
  • Komsuoglu, H.: Leaping behavior for a hexapod robot. Experimental work presented at DARPA-SwRI 2003 (2003)
  • Prahacs, C., Saunders, A., Smith, M.K., McMordie, D., Buehler, M.: Towards legged amphibious mobile robotics. Journal of Engineering Design and Innovation 1P (2005)
  • Balasubramanian, R., Rizzi, A.A., Mason, M.T.: Legless locomotion: A novel locomotion technique for legged robots. International Journal of Robotics Research 27(5) (2008) 575-594
  • Saranli, U., Rizzi, A., Koditschek, D.E.: Model-based dynamic self-righting maneuvers for a hexapedal robot. International Journal of Robotics Research 23(9) (September 2004) 903-918
  • Komsuoglu, H., McMordie, D., Saranli, U., Moore, N., Buehler, M., Koditschek, D.E.: Proprioception based behavioral advances in a hexapod robot. In: Proceedings of International Conference on Robotics and Automation, Seoul, Korea (2001)
  • Haynes, G.C., Rizzi, A.: Gaits and gait transitions for legged robots. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06). (May 2006)
  • Lin, P.C., Komsuoglu, H., Koditschek, D.E.: Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits. IEEE Transactions on Robotics 22(5) (October 2006) 932-943
  • Kerdok, A.E., Biewener, A.A., McMahon, T.A., Weyand, P.G., Herr, H.M.: Energetics and mechanics of human running on surfaces of different stiffnesses. Journal of Applied Physiology 92 (2002) 469-478
  • Dawkins, R.: The selfish gene. Oxford Press, New York (1989).
Toplam 44 adet kaynakça vardır.

Ayrıntılar

Diğer ID JA38AV42CD
Bölüm Araştırma Makalesi
Yazarlar

Haldun Komsuoğlu Bu kişi benim

Yayımlanma Tarihi 1 Mart 2011
Yayımlandığı Sayı Yıl 2011 Cilt: 3 Sayı: 1

Kaynak Göster

IEEE H. Komsuoğlu, “DYNAMIC LEGGED MOBILITY | AN OVERVIEW”, UTBD, c. 3, sy. 1, ss. 1–10, 2011.

Dergi isminin Türkçe kısaltması "UTBD" ingilizce kısaltması "IJTS" şeklindedir.

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