Multimode locomotion via superbot robots

Wei Min Shen; Maks Krivokon; Harris Chiu; Jacob Everist; Michael Rubenstein; Jagadesh Venkatesh

doi:10.1109/ROBOT.2006.1642086

Multimode locomotion via superbot robots

Wei Min Shen, Maks Krivokon, Harris Chiu, Jacob Everist, Michael Rubenstein, Jagadesh Venkatesh

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

41 Scopus citations

Abstract

This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN, CONRO and others. Experimental results, both in real robots and in simulation, have shown the validity of the approach and demonstrated the movements of forward, backward, turn, sidewinder, maneuver, and travel on batteries up to 500 meters on a flat terrain. In physics-based simulation, Superbot can perform as snake, caterpillar, insect, spider, rolling track, H-walker, etc., and move 1.0 meter/second on flat terrain with less than 6W/module, and climb slopes of no less 40 degrees.

Original language	English (US)
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	2552-2557
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1642086
State	Published - 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

Keywords

Modular robots
Self-reconfigurable and multifunctional robots
Space robots

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ROBOT.2006.1642086

Cite this

Shen, W. M., Krivokon, M., Chiu, H., Everist, J., Rubenstein, M., & Venkatesh, J. (2006). Multimode locomotion via superbot robots. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2552-2557). Article 1642086 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642086

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abstract = "This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN, CONRO and others. Experimental results, both in real robots and in simulation, have shown the validity of the approach and demonstrated the movements of forward, backward, turn, sidewinder, maneuver, and travel on batteries up to 500 meters on a flat terrain. In physics-based simulation, Superbot can perform as snake, caterpillar, insect, spider, rolling track, H-walker, etc., and move 1.0 meter/second on flat terrain with less than 6W/module, and climb slopes of no less 40 degrees.",

keywords = "Modular robots, Self-reconfigurable and multifunctional robots, Space robots",

author = "Shen, {Wei Min} and Maks Krivokon and Harris Chiu and Jacob Everist and Michael Rubenstein and Jagadesh Venkatesh",

year = "2006",

doi = "10.1109/ROBOT.2006.1642086",

language = "English (US)",

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Shen, WM, Krivokon, M, Chiu, H, Everist, J, Rubenstein, M & Venkatesh, J 2006, Multimode locomotion via superbot robots. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1642086, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 2552-2557, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1642086

Multimode locomotion via superbot robots. / Shen, Wei Min; Krivokon, Maks; Chiu, Harris et al.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 2552-2557 1642086 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Krivokon, Maks

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AU - Rubenstein, Michael

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AB - This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN, CONRO and others. Experimental results, both in real robots and in simulation, have shown the validity of the approach and demonstrated the movements of forward, backward, turn, sidewinder, maneuver, and travel on batteries up to 500 meters on a flat terrain. In physics-based simulation, Superbot can perform as snake, caterpillar, insect, spider, rolling track, H-walker, etc., and move 1.0 meter/second on flat terrain with less than 6W/module, and climb slopes of no less 40 degrees.

KW - Modular robots

KW - Self-reconfigurable and multifunctional robots

KW - Space robots

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Multimode locomotion via superbot robots

Abstract

Publication series

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Keywords

ASJC Scopus subject areas

UN SDGs

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