Design, Fabrication, and Characterization of a Hybrid Bionic Spherical Robotics with Multilegged Feedback Mechanism

Jiaxi Zheng, Peng Xu*, Zhaochen Meng, Jianhua Liu, Siyuan Wang, Xinyu Wang, Guangming Xie, Jin Tao, Minyi Xu

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)

Abstract

Spherical robots have many desirable traits when designing mass efficient systems interacted with unstructured terrain. In this letter, we propose a hybrid bionic spherical robot based on the morphological properties of sea urchins and the movement characteristics of tumbleweeds. This robot enables it to move freely in harsh terrain with the distributed high-aspect-ratio telescopic units, where our control strategy is based on a central pattern generator, and combines foot pressure measurements and actuator state information. In particular, these data from multiple foot pressure sensors also are used to compute the robots' center of mass, with evaluating locomotion state during rolling maneuvers. The experimental results show the ability of our design to provide reliable pose estimates, also overcoming a challenge in the field of mobile robotics, including switch directions flexibly in harsh terrain due to their anisotropy.

Original languageEnglish
Pages (from-to)8659-8666
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume7
Issue number4
DOIs
Publication statusPublished - 1 Oct 2022
MoE publication typeA1 Journal article-refereed

Keywords

  • Biologically-inspired robots
  • force and tactile sensing
  • mechanics and control
  • motion control
  • robotics and automation in construction

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