Allometric scaling of insects and animals for biomimetic robot design considerations

2016 ◽  
Author(s):  
Taejae Lee ◽  
Seohyeong Jang ◽  
Mingi Jeong ◽  
Dong-Il Dan Cho
Keyword(s):  
Allometric Scaling ◽  
Robot Design ◽  
Design Considerations ◽  
Biomimetic Robot

scholarly journals Study of Flea Jumping Mechanism for Biomimetic Robot Design

2010 ◽  
Vol 5 (1) ◽  
pp. 41-52 ◽  
Author(s):  
Sheikh Rashed BUKSH ◽  
XiaoQi CHEN ◽  
Wenhui WANG
Keyword(s):  
Robot Design ◽  
Biomimetic Robot

Auxiliary Axis for Rensselaer’s Geotechnical Centrifuge Center In-Flight Robot: Design Considerations

2007 ◽  
Author(s):  
Glenn Saunders ◽  
Stephen J. Derby ◽  
Tarek H. Abdoun
Keyword(s):  
Soil Samples ◽  
Soil Conditions ◽  
Robot Design ◽  
Deep Soil ◽  
Geotechnical Centrifuge ◽  
Design Considerations ◽  
Earthen Structures ◽  
Laminar Box ◽  
Conducting Research ◽  
Earthquake Simulations

Rensselaer’s Geotechnical Centrifuge Center is a resource for conducting research into the behavior of soils, earthen structures and other materials under high g-force conditions. The 3m radius centrifuge can accelerate a roughly 1m × 1m × 1m payload up to as much as 200 g’s. Under such loading, properly prepared soil samples accurately simulate deep soil conditions at 1 g. The system also includes an In-flight Robot that provides the capability to perform experiments while the centrifuge is in operations, as well as a 2–D shaker and associated 2–D Laminar Box that permit earthquake simulations while in flight. However prior to the implementation of the Auxiliary Axis, pilings were limited to a maximum usable length of approximately 15cm. The objective of Auxiliary Axis is to provide the capability to handle long pilings (up to 35cm) in situations where both the 2–D Shaker and 2–D Laminar Box are used. The Aux Axis is attached to the exterior of the in-flight robot when needed, and removed when not. The Aux Axis is designed to perform in a 50 g’s environment which holds some unique engineering concerns. It is designed so that installation and removal is as simple as possible, and can typically be completed in about 30 minutes. The Aux Axis is powered by the existing robot Z axis motor and belt drive system. Consequently, both the Z axis and the Aux Axis move simultaneously when the Aux Axis is installed. The Aux Axis is geared approximately 8.42 times higher than the Z axis so that it moves much further than the Z axis during operation. This permits the pilings; which are attached to the Aux Axis, to be fully inserted into the soil sample before the Z axis has moved far enough to interfere with the top of the 2–D Laminar Box.

scholarly journals Digital compass as heading sensor for hexapod robot

2003 ◽  
Vol 13 (2) ◽  
pp. 11-16
Author(s):  
Sasa Andjelkovic ◽  
Ivan Velickovic ◽  
Milan Rasic ◽  
Goran Djordjevic
Keyword(s):  
Path Planning ◽  
Motion Control ◽  
Low Cost ◽  
Path Following ◽  
Robot Design ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Biomimetic Robot ◽  
Tilt Sensor ◽  
Design Challenges

A growing research in biomimetic legged robot design challenges today's theory path planning and motion control. For many reasons a biomimetic robot requires a heading sensor onboard for better path following and steering. We propose a use of a digital compass as low-cost sensor. However, cheap versions of that sensor are extremely sensitive to inclination that occurs due to locomotion, resulting in incorrect measurements. This paper presents a modeling procedure of a digital compass performance with respect to altered roll and pitch angles. With information from an additional accelerometer as tilt sensor that reads roll and pitch angles of the robot the model improves the compass readings making it insensitive to altered tilt. The fusion of the modeling and a compass-accelerometer setup is experimentally verified.

scholarly journals Personal Narratives in Technology Design: The Value of Sharing Older Adults’ Stories in the Design of Social Robots

2021 ◽  
Vol 8 ◽  
Author(s):  
Anastasia K. Ostrowski ◽  
Christina N. Harrington ◽  
Cynthia Breazeal ◽  
Hae Won Park
Keyword(s):  
Older Adults ◽  
Prior Experience ◽  
Personal Narratives ◽  
Social Robots ◽  
Design Knowledge ◽  
Robot Design ◽  
Technology Design ◽  
Design Considerations ◽  
Design Fiction ◽  
Meaningful Data

The storytelling lens in human-computer interaction has primarily focused on personas, design fiction, and other stories crafted by designers, yet informal personal narratives from everyday people have not been considered meaningful data, such as storytelling from older adults. Storytelling may provide a clear path to conceptualize how technologies such as social robots can support the lives of older or disabled individuals. To explore this, we engaged 28 older adults in a year-long co-design process, examining informal stories told by older adults as a means of generating and expressing technology ideas and needs. This paper presents an analysis of participants’ stories around their prior experience with technology, stories shaped by social context, and speculative scenarios for the future of social robots. From this analysis, we present suggestions for social robot design, considerations of older adults’ values around technology design, and promotion of participant stories as sources for design knowledge and shifting perspectives of older adults and technology.

scholarly journals Design of Robot-Inclusive Vertical Green Landscape

Buildings ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 203
Author(s):  
Matthew S. K. Yeo ◽  
S. M. Bhagya P. Samarakoon ◽  
Qi Boon Ng ◽  
M. A. Viraj J. Muthugala ◽  
Mohan Rajesh Elara
Keyword(s):  
Built Environment ◽  
Architectural Design ◽  
Modular Design ◽  
Robot Design ◽  
Urban Density ◽  
Design Considerations ◽  
Plant Maintenance ◽  
Minimal Effort ◽  
Robotic Applications

Vertical gardens have emerged alongside the increase in urban density and land scarcity to reintegrate greenery in the built environment. Existing maintenance for vertical gardens is labour-intensive, time-consuming and is being increasingly complemented by robotic applications. While research has been focused on enhancing robot design to improve productivity, minimal effort has been done on ‘design for robots’ in creating suitable environments for optimal robot deployments. This paper proposed a multi-disciplinary approach that brings together architects, designers, and roboticians to adapt the design of the vertical garden infrastructure to counteract the limitations of the maintenance robot. A case study on an existing plant maintenance robot ‘Urodela’ was conducted to determine the limitations encountered by robotic aid during operation. A robot-inclusive modular design for vertical gardens is proposed based on robot-inclusive principles, namely manipulability and safety, along with architectural design considerations. Design explorations for different configurations of track layouts of the proposed robot-inclusive modular design for vertical gardens is further analysed to validate its applicability and scalability.

A Family of Biped Mechanisms With Two Revolute and Two Cylindric Joints

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Chao Liu ◽  
Hui-Hui Yang ◽  
Yan-An Yao
Keyword(s):  
Synthesis Method ◽  
Biped Robot ◽  
Robot Design ◽  
Mechanism Synthesis ◽  
Stability Analyses ◽  
Design Considerations ◽  
Alternative Option ◽  
End To End ◽  
Singular Configuration

A family of biped spatial four-link mechanisms with two revolute and two cylindric joints is proposed in this paper. Three main categories, including eight configurations are put forward. The primary feature of these mechanisms is that they are made up of four links that are connected end to end through two revolute and cylindric joints, and among the links, two of them are designed as feet. These novel configurations are revealed by different methods and ways: The basic configurations are enumerated by traditional mechanism synthesis method; the conventional configurations are obtained by repetitious trial; the unique configurations are accidentally achieved by inspiration or intuition. Each of them has its own characteristic and can be an alternative option for biped robot design. Compared with most of the existing biped mechanisms, these configurations are simpler in structure and thus easier to control. The singular configuration is cleverly used rather than avoided to perform the walking and turning. Their structure descriptions and walking simulations are accomplished. Afterwards, the kinematic and stability analyses are studied, the design considerations are discussed, and foot-workspace analyses are carried out. Finally, four prototypes are developed to preliminary verify the feasibility of these proposed concepts.

Stair case cleaning robot: Design considerations and a case study

2016 ◽  
Author(s):  
Rajesh Kannan Megalingam ◽  
Abhijeet Prem ◽  
Aravind Hari Nair ◽  
Aditya Jayakrishnan Pillai ◽  
Bharath Sreekumaran Nair
Keyword(s):  
Robot Design ◽  
Design Considerations ◽  
Cleaning Robot

Morphological behavior of compatibilized ternary blends prepared by mechanical mixing

1993 ◽  
Vol 51 ◽  
pp. 1200-1201
Author(s):  
S.D. Smith ◽  
R.J. Spontak ◽  
D.H. Melik ◽  
S.M. Buehler ◽  
K.M. Kerr ◽  
...  
Keyword(s):  
Interfacial Adhesion ◽  
Diblock Copolymers ◽  
Ternary Blends ◽  
Mechanical Mixing ◽  
Design Considerations ◽  
Covalently Bonded ◽  
Homopolymer Blends ◽  
Emulsifying Agent ◽  
Surface Active ◽  
Low Entropy

When blended together, homopolymers A and B will normally macrophase-separate into relatively large (≫1 μm) A-rich and B-rich phases, between which exists poor interfacial adhesion, due to a low entropy of mixing. The size scale of phase separation in such a blend can be reduced, and the extent of interfacial A-B contact and entanglement enhanced, via addition of an emulsifying agent such as an AB diblock copolymer. Diblock copolymers consist of a long sequence of A monomers covalently bonded to a long sequence of B monomers. These materials are surface-active and decrease interfacial tension between immiscible phases much in the same way as do small-molecule surfactants. Previous studies have clearly demonstrated the utility of block copolymers in compatibilizing homopolymer blends and enhancing blend properties such as fracture toughness. It is now recognized that optimization of emulsified ternary blends relies upon design considerations such as sufficient block penetration into a macrophase (to avoid block slip) and prevention of a copolymer multilayer at the A-B interface (to avoid intralayer failure).

Theoretical And Practical Design Considerations for Ultra-High Resolution Electron Lenses

1980 ◽  
Vol 38 ◽  
pp. 266-269
Author(s):  
Y. Harada ◽  
K. Tsuno ◽  
Y. Arai
Keyword(s):  
Optical Properties ◽  
High Resolution ◽  
Chromatic Aberration ◽  
Point Of View ◽  
Pole Piece ◽  
Axial Field ◽  
Design Considerations ◽  
Resolution Electron ◽  
Practical Design ◽  
Peak Flux

Magnetic objective lenses, from the point of view of pole piece geometry, can he roughly classified into two types, viz., symmetrical and asymmetrical. In the case of the former, the optical properties have been calculated by several authors1-3) and the results would appear to suggest that, in order to reduce the spherical and chromatic aberration coefficients, Cs and Cc, it is necessary to decrease the half-width value of the axial field distribution and to increase the peak flux density. The expressions for either minimum Cs or minimum Cc were presented in the form of ‘universal’ curves by Mulvey and Wallington4).

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