The present invention relates to novel, highly mobile small robots called "Mini-WHEGSTM" that can... more The present invention relates to novel, highly mobile small robots called "Mini-WHEGSTM" that can run and jump.
Insects provide good models for the design and control of mission capable legged robots. We are u... more Insects provide good models for the design and control of mission capable legged robots. We are using intelligent biological inspiration to extract the features important for locomotion from insect neuromechanical designs and implement them into legged robots. Each new model in our series of robots represents an advance in agility, strength, or energy efficiency, which are all important for performing missions. Robot IV is being constructed with a cockroach mechanical design. It features a lightweight exoskeleton structure and McKibben artificial muscles for passive joint stiffness. Our self-contained microrobot has rear legs that are inspired by cricket. Its diminutive size required us to custom fabricate almost all of its parts, including its McKibben actuators.
Through the use of mechanical, actuated antennae a biologically-inspired robot is capable of auto... more Through the use of mechanical, actuated antennae a biologically-inspired robot is capable of autonomous decision-making and navigation when faced with an obstacle that can be climbed over or tunneled under. Verticallysweeping mechanical antennae and interface microcontrollers have been added to the Whegs ™ II [1] sensor platform that allow it to autonomously sense the presence of, and successfully navigate a horizontal shelf placed in its path. The obstacle is sensed when the antennae make contact with it, and navigation is made possible through articulation of the Whegs™ II body flexion joint.
Abstracting cockroach locomotion principles with reduced actuation can lead to a simple yet effec... more Abstracting cockroach locomotion principles with reduced actuation can lead to a simple yet effective cockroach-like vehicle able to traverse irregular terrain. One such hexapod robot is Whegs VP, which achieves a cockroach-like nominal tripod gait using only a single DC motor. Whegs VP uses compliant mechanisms in its axles to passively adapt its gait to the terrain such that it
Proceedings of the Workshop on Locomotion Control in Legged Invertebrates on Biological Neural Networks in Invertebrate Neuroethology and Robotics, 1993
This paper describes the development of an autonomous hybrid micro-robot that uses legs for propu... more This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.
... 4.2 AGILE GRIPPERS The design of end-of-arm tooling for use in a flexible ... extend flexibil... more ... 4.2 AGILE GRIPPERS The design of end-of-arm tooling for use in a flexible ... extend flexibility to grippers and fixtures, we have developed a CAD-based gripper design and fabrication ... At one extreme, robot grippers can include many degrees of freedom, imitating a human hand. ...
We report on a neuromuscular model of the mantis Tenodera sinensis, created to investigate the ro... more We report on a neuromuscular model of the mantis Tenodera sinensis, created to investigate the role of sensory information in posture control during hunting. Mantises track moving prey with movements of the head and prothorax and rotations of the body by the middle and hind legs. Our model abstracts vision to the relative position of the "prey". When a visual cue is simulated, the angle between the cue and the actual head orientation is encoded as a neural signal. This initiates a cascade of head, prothorax and body rotations to center the prey in the visual eld.
Proceedings of Spie the International Society For Optical Engineering, May 1, 2011
Animal behavioral, physiological and neurobiological studies are providing a wealth of inspiratio... more Animal behavioral, physiological and neurobiological studies are providing a wealth of inspirational data for robot design and control. Several very different biologically inspired mobile robots will be reviewed. A robot called DIGbot is being developed that moves independent of the direction of gravity using Distributed Inward Gripping (DIG) as a rapid and robust attachment mechanism observed in climbing animals. DIGbot is an 18 degree of freedom hexapod with onboard power and control systems. Passive compliance in its feet, which is inspired by the flexible tarsus of the cockroach, increases the robustness of the adhesion strategy and enables DIGbot to execute large steps and stationary turns while walking on mesh screens. A Whegs™ robot, inspired by insect locomotion principles, is being developed that can be rapidly reconfigured between tracks and wheel-legs and carry GeoSystems Zipper Mast. The mechanisms that cause it to passively change its gait on irregular terrain have been integrated into its hubs for a compact and modular design. The robot is designed to move smoothly on moderately rugged terrain using its tracks and run on irregular terrain and stairs using its wheel-legs. We are also developing soft bodied robots that use peristalsis, the same method of locomotion earthworms use. We present a technique of using a braided mesh exterior to produce fluid waves of motion along the body of the robot that increase the robot's speed relative to previous designs. The concept is highly scalable, for endoscopes to water, oil or gas line inspection.
... A biologically inspired gripping device Elizabeth V. Mangan, Dan A. Kingsley, Roger D. Quinn,... more ... A biologically inspired gripping device Elizabeth V. Mangan, Dan A. Kingsley, Roger D. Quinn, Greg P. Sutton and Joseph M. Mansour Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA, and Hillel J. Chiel ...
Proceedings of the 2005 Ieee International Conference on Robotics and Automation, Apr 18, 2005
Abstract—Two simple three-dimensional moth ,inspired odor- tracking algorithms, Counter-turner an... more Abstract—Two simple three-dimensional moth ,inspired odor- tracking algorithms, Counter-turner and Modified counter- turner, were tested on a robotic platform. The Counter-turner uses the plume ,edge to modify ,the timing of the ,crosswind movements, while the Modified counter-turner uses the plume centerline. Both algorithms shows some success in tracking the plume to it’s source. In addition, flight tracks show promise in
Proceedings of Spie the International Society For Optical Engineering, Mar 31, 2005
Over the years, scientists and artists alike have imagined walking mechanisms that mimic the natu... more Over the years, scientists and artists alike have imagined walking mechanisms that mimic the natural gait of humans and animals. Only recently have engineers begun to unravel the mystery of animal locomotion. Several walking robots have been built in the past few years [1]. An ongoing research problem with these robots is their inefficiency. Whereas animal locomotion is quite efficient, our efforts to mimic it have not been, with a few notable exceptions [2]. In this paper, we present a design for efficient legged locomotion, and we show the initial concept demonstration.
Purpose – Biological systems such as insects have often been used as a source of inspiration when... more Purpose – Biological systems such as insects have often been used as a source of inspiration when developing walking robots. Insects' ability to nimbly navigate uneven terrain, and their observed behavioral complexity have been a beacon for engineers who have used behavioral data and hypothesized control systems to develop some remarkably agile robots. The purpose of this paper is to
Novel insect-inspired foot materials may enable future robots to walk on surfaces regardless of t... more Novel insect-inspired foot materials may enable future robots to walk on surfaces regardless of the direction of gravity. Mini-Whegs, a small robot that uses four wheel-legs for locomotion, was converted to a wall-walking robot with compliant, adhesive feet. First, the robot was tested with conventional adhesive feet. Then a new, reusable insect-inspired adhesive was tested on the robot. This structured polymer adhesive has less adhesive strength than conventional pressure-sensitive adhesives, but it has two important advantages: the foot material maintains its properties for more walking cycles before becoming contaminated; and the feet can then be washed and reused with similar results, which is not feasible with conventional adhesives. After the addition of a tail and widening the feet, the robot is capable of ascending vertical smooth glass surfaces using the structured polymer adhesive.
The present invention relates to novel, highly mobile small robots called "Mini-WHEGSTM" that can... more The present invention relates to novel, highly mobile small robots called "Mini-WHEGSTM" that can run and jump.
Insects provide good models for the design and control of mission capable legged robots. We are u... more Insects provide good models for the design and control of mission capable legged robots. We are using intelligent biological inspiration to extract the features important for locomotion from insect neuromechanical designs and implement them into legged robots. Each new model in our series of robots represents an advance in agility, strength, or energy efficiency, which are all important for performing missions. Robot IV is being constructed with a cockroach mechanical design. It features a lightweight exoskeleton structure and McKibben artificial muscles for passive joint stiffness. Our self-contained microrobot has rear legs that are inspired by cricket. Its diminutive size required us to custom fabricate almost all of its parts, including its McKibben actuators.
Through the use of mechanical, actuated antennae a biologically-inspired robot is capable of auto... more Through the use of mechanical, actuated antennae a biologically-inspired robot is capable of autonomous decision-making and navigation when faced with an obstacle that can be climbed over or tunneled under. Verticallysweeping mechanical antennae and interface microcontrollers have been added to the Whegs ™ II [1] sensor platform that allow it to autonomously sense the presence of, and successfully navigate a horizontal shelf placed in its path. The obstacle is sensed when the antennae make contact with it, and navigation is made possible through articulation of the Whegs™ II body flexion joint.
Abstracting cockroach locomotion principles with reduced actuation can lead to a simple yet effec... more Abstracting cockroach locomotion principles with reduced actuation can lead to a simple yet effective cockroach-like vehicle able to traverse irregular terrain. One such hexapod robot is Whegs VP, which achieves a cockroach-like nominal tripod gait using only a single DC motor. Whegs VP uses compliant mechanisms in its axles to passively adapt its gait to the terrain such that it
Proceedings of the Workshop on Locomotion Control in Legged Invertebrates on Biological Neural Networks in Invertebrate Neuroethology and Robotics, 1993
This paper describes the development of an autonomous hybrid micro-robot that uses legs for propu... more This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.
... 4.2 AGILE GRIPPERS The design of end-of-arm tooling for use in a flexible ... extend flexibil... more ... 4.2 AGILE GRIPPERS The design of end-of-arm tooling for use in a flexible ... extend flexibility to grippers and fixtures, we have developed a CAD-based gripper design and fabrication ... At one extreme, robot grippers can include many degrees of freedom, imitating a human hand. ...
We report on a neuromuscular model of the mantis Tenodera sinensis, created to investigate the ro... more We report on a neuromuscular model of the mantis Tenodera sinensis, created to investigate the role of sensory information in posture control during hunting. Mantises track moving prey with movements of the head and prothorax and rotations of the body by the middle and hind legs. Our model abstracts vision to the relative position of the "prey". When a visual cue is simulated, the angle between the cue and the actual head orientation is encoded as a neural signal. This initiates a cascade of head, prothorax and body rotations to center the prey in the visual eld.
Proceedings of Spie the International Society For Optical Engineering, May 1, 2011
Animal behavioral, physiological and neurobiological studies are providing a wealth of inspiratio... more Animal behavioral, physiological and neurobiological studies are providing a wealth of inspirational data for robot design and control. Several very different biologically inspired mobile robots will be reviewed. A robot called DIGbot is being developed that moves independent of the direction of gravity using Distributed Inward Gripping (DIG) as a rapid and robust attachment mechanism observed in climbing animals. DIGbot is an 18 degree of freedom hexapod with onboard power and control systems. Passive compliance in its feet, which is inspired by the flexible tarsus of the cockroach, increases the robustness of the adhesion strategy and enables DIGbot to execute large steps and stationary turns while walking on mesh screens. A Whegs™ robot, inspired by insect locomotion principles, is being developed that can be rapidly reconfigured between tracks and wheel-legs and carry GeoSystems Zipper Mast. The mechanisms that cause it to passively change its gait on irregular terrain have been integrated into its hubs for a compact and modular design. The robot is designed to move smoothly on moderately rugged terrain using its tracks and run on irregular terrain and stairs using its wheel-legs. We are also developing soft bodied robots that use peristalsis, the same method of locomotion earthworms use. We present a technique of using a braided mesh exterior to produce fluid waves of motion along the body of the robot that increase the robot's speed relative to previous designs. The concept is highly scalable, for endoscopes to water, oil or gas line inspection.
... A biologically inspired gripping device Elizabeth V. Mangan, Dan A. Kingsley, Roger D. Quinn,... more ... A biologically inspired gripping device Elizabeth V. Mangan, Dan A. Kingsley, Roger D. Quinn, Greg P. Sutton and Joseph M. Mansour Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA, and Hillel J. Chiel ...
Proceedings of the 2005 Ieee International Conference on Robotics and Automation, Apr 18, 2005
Abstract—Two simple three-dimensional moth ,inspired odor- tracking algorithms, Counter-turner an... more Abstract—Two simple three-dimensional moth ,inspired odor- tracking algorithms, Counter-turner and Modified counter- turner, were tested on a robotic platform. The Counter-turner uses the plume ,edge to modify ,the timing of the ,crosswind movements, while the Modified counter-turner uses the plume centerline. Both algorithms shows some success in tracking the plume to it’s source. In addition, flight tracks show promise in
Proceedings of Spie the International Society For Optical Engineering, Mar 31, 2005
Over the years, scientists and artists alike have imagined walking mechanisms that mimic the natu... more Over the years, scientists and artists alike have imagined walking mechanisms that mimic the natural gait of humans and animals. Only recently have engineers begun to unravel the mystery of animal locomotion. Several walking robots have been built in the past few years [1]. An ongoing research problem with these robots is their inefficiency. Whereas animal locomotion is quite efficient, our efforts to mimic it have not been, with a few notable exceptions [2]. In this paper, we present a design for efficient legged locomotion, and we show the initial concept demonstration.
Purpose – Biological systems such as insects have often been used as a source of inspiration when... more Purpose – Biological systems such as insects have often been used as a source of inspiration when developing walking robots. Insects' ability to nimbly navigate uneven terrain, and their observed behavioral complexity have been a beacon for engineers who have used behavioral data and hypothesized control systems to develop some remarkably agile robots. The purpose of this paper is to
Novel insect-inspired foot materials may enable future robots to walk on surfaces regardless of t... more Novel insect-inspired foot materials may enable future robots to walk on surfaces regardless of the direction of gravity. Mini-Whegs, a small robot that uses four wheel-legs for locomotion, was converted to a wall-walking robot with compliant, adhesive feet. First, the robot was tested with conventional adhesive feet. Then a new, reusable insect-inspired adhesive was tested on the robot. This structured polymer adhesive has less adhesive strength than conventional pressure-sensitive adhesives, but it has two important advantages: the foot material maintains its properties for more walking cycles before becoming contaminated; and the feet can then be washed and reused with similar results, which is not feasible with conventional adhesives. After the addition of a tail and widening the feet, the robot is capable of ascending vertical smooth glass surfaces using the structured polymer adhesive.
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Papers by Roger Quinn