Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2012.18.2.081

Design of the Locomotive Mechanism by Analysis on Behavior of Pill Bugs for a Small Robot  

Park, Jong-Won (Korea Advanced Institute of Science and Technology)
Kim, Hong-Jin (Korea Advanced Institute of Science and Technology)
Kim, Young-Kook (Korea Advanced Institute of Science and Technology)
Kim, Soo-Hyun (Korea Advanced Institute of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.2, 2012 , pp. 81-86 More about this Journal
Abstract
Reconnaissance robots can reduce the danger of hazardous places by providing information before human personnel take action. For the usage, robot platform should be small and light. However, this fact leads to a scaling issue with terrain that landscape poses a huge obstacle for the vehicle. The problem can be solved by the inspiration of nature. This paper presents design of the locomotive mechanism inspired by Pill bugs. The mechanism was designed by the principles of a pill bug's locomotion and experiments were conducted to validate the mechanism.
Keywords
reconnaissance robot; pill bug; locomotion; wheel-leg; biomimetics;
Citations & Related Records

Times Cited By SCOPUS : 0
연도 인용수 순위
  • Reference
1 J. W. Park, Y. K. Kim, W. S. Jung, K.-S. Kim, and S. H. Kim, "Ground following locomotion of a robot inspired by pill bugs," International conference on robotics and biomimetics, 2011.
2 P. Hulbert and Dr. Gorsich, "Mobility analysis of small,lightweight robotic vehicles," Brooke Haueisen, 6807- 9990, April 2003.
3 T. J. Allen, R. D. Quinn1, R. J. Bachmann, and R. E. Ritzmann, "Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles," Intl. Conference on Intelligent Robots and Systems, 2003.
4 E. Z. Moore, D. Campbell, F. Grimminger, and M. Buehler, "Reliable stair climbing in the simple hexapod 'RHex'," IEEE Int. Conf. on Robotics and Automation, 2002.
5 Tae-Il Jung, "Obstacle Negotiation for Articulated-tracked Mobile Robots," Master's Thesis (in Korean), KAIST, 2009.
6 R. Siegwart, P. Lamon, T. Estier, M. Lauria, and R. Piguet, "Innovative design for wheeled locomotion in rough terrain," Robotics and Autonomous Systems, vol. 40, pp. 151-162, 2002.   DOI
7 B. Yamauchi, "PackBot: A versatile platform for military robotics," iRobot Corporation.
8 J. Borenstein, G. Granosik, and M. Hansen, "The omnitread serpentine robot - design and field performance," Proc. of the SPIE Defense and Security Conference, April, 2005.
9 E. E. Ruppert, R. S. Fox, and R. D. Barnes, "Invertebrate Zoology."
10 J. W. Park, J. C. Kim, K.-S. Kim, and S. H. Kim, "Locomotion design of a small reconnaissance robot inspired by pill bugs," The 7th International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 614-615, 2010.
11 Jongwon Park, Jichul Kim, Kyung-soo Kim, Soo-hyun Kim, "Design of the Locomotive Mechanism Inspired by Biological Principles of Pill Bugs," Proceeding of KIMST Annual Conference (in Korean), pp. 1748-1751, 2010.