Chapter 1: Robot locomotion

There are many different ways that robots can move themselves from one location to another, and the term "robot locomotion" refers to all of these different movement strategies.

The majority of the time, wheeled robots are very easy to manage and have a low energy consumption. For a variety of reasons, however, other modes of locomotion might be more suitable. For instance, while crossing tough terrain, as well as when moving and engaging in human situations, those other modes of locomotion might be more suitable. In addition, the research of insect-like robots and bipedal robots may have valuable implications for the field of biomechanics.

One of the primary objectives in this area is to create capabilities that will allow robots to make decisions about how, when, and where they will move on their own. On the other hand, it is challenging to coordinate a large number of robot joints for even more straightforward tasks, such as climbing stairs. One of the most significant technological challenges facing several subfields of robotics, such as humanoids (like Honda's Asimo), is the development of autonomous robot mobility.

Walking robots are an alternative for wheeled mobility because they mimic the gait of humans or animals. Not only does the motion of a legged robot make it feasible to navigate uneven surfaces, steps, and other areas that would be difficult for a wheeled robot to reach, but it also causes less harm to the surrounding terrain than wheeled robots, which would erode it.

The primary inspiration for hexapod robots comes from the locomotion of insects, specifically the cockroach and the stick insect. These insects have a neurological and sensory output that is simpler than that of other animals. It is possible for robots to transport goods more effectively if they have several legs since this allows for a variety of gaits to be performed, even if one of the legs is injured.

Among the many examples of advanced running robots, some examples include ASIMO, BigDog, HUBO 2, RunBot, and the Toyota Partner Robot.

Wheeled robots are the most efficient when it comes to energy efficiency on hard, flat surfaces thanks to their mobility. An ideal, non-deformable rolling wheel that does not slip does not waste any energy, which is the reason for this circumstance. At heel strike, legged robots have an impact with the ground, which causes them to lose energy. This is in contrast to the situation with legged robots.

To simplify things, the majority of mobile robots are equipped with four wheels or a number of tracks that are continuous. Several researchers have attempted to develop more complex wheeled robots that just have one or two wheels with their wheels. These can have a number of benefits, including increased efficiency and a reduction in the number of parts of the robot, as well as the ability to move in restricted spaces that a four-wheeled robot would not be able to do.

For instance:

To Boe-Bot, You, Cosmobot

"Elmer,"

You, Elsie

You, Enon

A HERO?

IRobot Create, Inc.

The Roomba from iRobot, The Beast of Johns Hopkins, Walk on the Land, Robot with modulus, You, Musa

The Omnibot, To PaPeRo, You, Phobot

Robot with a pocketdelta, The Talking Trash Can should be pushed.

R.B.X, This is Rovio.

To Seropi, It's the robot, Shakey.

You, Sony Rolly

To Spykee, "TiLR,"

"Topo,"

Both TR Araña and

Oh, Wakamaru!

During the 1980s, Marc Raibert conducted research at the MIT Leg Laboratory and constructed a number of robots that were able to effectively exhibit very dynamic walking. Up until that point, a robot that had just one leg and a very small foot was able to maintain its upright position by merely hopping. When compared to the movement of a person on a pogo stick, this movement is identical. When the robot was falling to one side, it would make a small leap in that direction in order to correct its position and catch itself. Almost immediately, the algorithm was extended to include both two and four legs. For the purpose of demonstration, a bipedal robot was shown running and even performing somersaults. Additionally, a quadruped that was capable of trotting, running, pacing, and bounding was displayed.

For instance:

The coordinated, sequential mechanical activity that has the appearance of a traveling wave is referred to as a metachronal rhythm or wave. In nature, ciliates use this type of action for transport, and worms and arthropods use it for locomotion.

There are a number of snake robots that have been constructed successfully. The ability of these robots to negotiate extremely limited areas, which is modeled after the movement of genuine snakes, means that they could one day be used to search for individuals who are trapped inside of buildings that have collapsed. With its ability to traverse both on land and in water, the Japanese ACM-R5 snake robot is truly remarkable.

For instance:

Robot with a snake-end, Both Roboboa and

The snakebot.

Through the use of brachiation, robots are able to move by swinging, requiring simply the use of energy to grab and release surfaces. One could compare this motion to that of an ape swinging from one tree to another. It is possible to draw parallels between the two types of brachiation and the motions of bipedal walking (continuous contact) or running (ricochetal). When a hand or grasping mechanism is always linked to the surface that is being crossed, this is known as continuous contact. Ricochetal, on the other hand, involves a phase of aerial "flight" from one surface or limb to the next.

In addition, robots can be made to navigate in a variety of different types of locomotion. A good illustration of this is the Reconfigurable Bipedal Snake Robot, which is capable of both slithering like a snake and walking like a biped robot.

Scientists have been looking to nature for answers because they want to achieve their goal of developing robots that are capable of dynamic locomotive abilities. There are a number of robots that have been developed that are capable of basic movement in a single mode; however, it has been discovered that these robots lack various features, which restricts their purposes and applications. A number of domains, including search and rescue operations, battlefields, and landscape exploration, require the utilization of robots with a high level of intelligence. It is therefore necessary for robots of this kind to be compact, lightweight, and rapid, and they should also be able to travel in a variety of locomotive modes. As it turns out, a number of different animals have served as sources of inspiration for the construction of a number of different robots. These kinds of animals include:

Pteromyini, sometimes known as flying squirrels

By utilizing their quadruped walking abilities with high degrees of freedom (DoF) legs, Pteromyini, a tribe of flying squirrels, demonstrate a remarkable degree of mobility when they are on land. Flying squirrels are able to glide in the air by utilizing lift forces that are generated by the membrane that is located between their legs. It is because they have a membrane that is extremely flexible that they are able to move their legs without any restrictions. When they are in the air, they glide with the help of their highly elastic membrane, and when they are running on the ground, they move very lightly. Additionally, Pteromyini are able to demonstrate multi-modal locomotion because of the membrane that joins the forelegs with the hindlegs. This membrane also contributes to the enhancement of their ability to glide. Flexible membranes have been shown to have a larger lift coefficient than rigid plates, and they also delay the angle of attack at which stalling occurs. This has been demonstrated through laboratory experiments. Additionally, the flying squirrel has thick bundles on the margins of its membrane, wingtips, and tail, which helps to reduce fluctuations and the loss of energy that is not necessary.

Pteromyini are able to improve their gliding ability as a result of the different physical characteristics that they possess.

It is possible to accomplish several goals with the flexible muscle structure. To begin, the plagiopatagium, which is the primary generator of lift for the flying squirrel, is able to work well because its muscles are thin and flexible. This allows it to do its duty successfully. Because it may contract and expand, the plagiopatagium is able to exert control over the tension that is present on the membrane. As a result of reducing the amount of flapping that occurs in the membrane, tension control can ultimately contribute to energy savings. As soon as the squirrel touches down, it contracts its membrane in order to prevent the membrane from sagging while it is walking.

Specifically, the propatagium and uropatagium are responsible for providing Pteromyini with additional lift. The propatagium of the flying squirrel is positioned between the head and the forelimbs, while the uropatagium is situated at the tail and the hind limbs. Both of these structures are responsible for providing the flying squirrel with improved agility and to increase the amount of drag it experiences upon landing.

Furthermore, the flying squirrel features thick muscular structures that resemble ropes on the margins of its membranes. These muscle structures are responsible for maintaining the shape of the membranes. The platysma, tibiocarpalis, and semitendinosus are the names of the muscle structures that are situated on the propatagium, plagiopatagium, and uropatagium, respectively. The purpose of these thick muscular structures is to protect...