Next Article in Journal
Using Thermal Shock to Inhibit Biofilm Formation in the Treated Sewage Source Heat Pump Systems
Previous Article in Journal
Guided Self-Accelerating Airy Beams—A Mini-Review
Article Menu
Issue 4 (April) cover image

Export Article

Open AccessArticle
Appl. Sci. 2017, 7(4), 342; doi:10.3390/app7040342

Design and Implementation of a Shape Shifting Rolling–Crawling–Wall-Climbing Robot

1
Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan
2
Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore 487372, Singapore
3
SUTD-JTC I 3 Center, Singapore University of Technology and Design, Singapore 487372, Singapore
4
SUTD @ Temasek Lab, Singapore University of Technology and Design, Singapore 487372, Singapore
*
Author to whom correspondence should be addressed.
Academic Editor: Hung Nguyen
Received: 28 November 2016 / Revised: 5 March 2017 / Accepted: 22 March 2017 / Published: 30 March 2017
View Full-Text   |   Download PDF [4278 KB, uploaded 31 March 2017]   |  

Abstract

Designing an urban reconnaissance robot is highly challenging work given the nature of the terrain in which these robots are required to operate. In this work, we attempt to extend the locomotion capabilities of these robots beyond what is currently feasible. The design and unique features of our bio-inspired reconfigurable robot, called Scorpio, with rolling, crawling, and wall-climbing locomotion abilities are presented in this paper. The design of the Scorpio platform is inspired by Cebrennus rechenbergi, a rare spider species that has rolling, crawling and wall-climbing locomotion attributes. This work also presents the kinematic and dynamic model of Scorpio. The mechanical design and system architecture are introduced in detail, followed by a detailed description on the locomotion modes. The conducted experiments validated the proposed approach and the ability of the Scorpio platform to synthesise crawling, rolling and wall-climbing behaviours. Future work is envisioned for using these robots as active, unattended, mobile ground sensors in urban reconnaissance missions. The accompanying video demonstrates the shape shifting locomotion capabilities of the Scorpio robot. View Full-Text
Keywords: bio-inspired robots; reconfigurable robots; wall-climbing robots; robot kinematics; robot dynamics; quaternion bio-inspired robots; reconfigurable robots; wall-climbing robots; robot kinematics; robot dynamics; quaternion
Figures

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Yanagida, T.; Elara Mohan, R.; Pathmakumar, T.; Elangovan, K.; Iwase, M. Design and Implementation of a Shape Shifting Rolling–Crawling–Wall-Climbing Robot. Appl. Sci. 2017, 7, 342.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top