A handful of robotic exploration rovers have had successful landings and missions on Mars. These ... more A handful of robotic exploration rovers have had successful landings and missions on Mars. These missions, however, were not without issues. The Mars Exploration Rovers (MER) Opportunity and Spirit, as examples, had several difficulties in traversing the terrain; and Spirit's mission ultimately ended due to becoming permanently embedded in loose soil. This paper describes the development of multiple sensor systems on a highly-mobile scout rover with overlapping areas of detection for data correlation and fault redundancy; allowing for collection of both rapid, cursory data while the rover is in motion and highly-detailed soil characteristic information while the rover is stopped. The mission-critical primary rover will also possess its own direct and remote sensing systems for added mission safety.
... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1... more ... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1Case Western Reserve University Department of Electrical Engineering ... B. Two-Leg Platform A second platform was created using different hobby servo motors for joint actuation ...
Insects, in general, are agile creatures capable of navigating uneven and difficult terrain with ... more Insects, in general, are agile creatures capable of navigating uneven and difficult terrain with ease. The leaf-cutter ants (Atta), specifically, are agile, social insects capable of navigating uneven and difficult terrain, manipulating objects in their environment, broadcasting messages to other leaf-cutter ants, performing collective tasks, and operating in cooperative manners with others of their kind (9)(12). These traits are desirable
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
For decades, insects have been a valuable source of inspiration for mechanical and control design... more For decades, insects have been a valuable source of inspiration for mechanical and control designs of legged robots. Anatomical and behavioral studies of insects such as cockroaches, stick insects and locusts have inspired the development of many robots. However, their control systems had to be engineered based upon behavioral studies and control hypotheses rather than neurobiology. Recent insect neurobiological discoveries now make it possible to control the legs of robots with a network found to control the legs of stick insects. In previous work this network we have dubbed {SCASM} {(Sensory-Coupled} Action Switching Modules) was shown coordinating the joints of a robot leg and adapting its normal leg cycle to irregularities in the terrain. We also showed that the {SCASM} network can be implemented effectively on a simple micro-controller with little computational power. This video describes additional sensory connections that, when added to {SCASM}, generate elevator and searching reflexes. We also show for the first time an autonomous hexapod robot walking over irregular terrain using a {SCASM} network to control each of its six legs and a Cruse type network to control its gait using only on-board, simple micro-controllers.
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Insects have long been a source of inspiration for the design and implementation of legged robots... more Insects have long been a source of inspiration for the design and implementation of legged robots. Their extraordinary mobility, agility, and adaptability are features sought after when developing competent, useful mobile walkers. Externally witnessed behaviors have been successfully implemented in walking robots for decades with great success. More recent years of biological study have solved some of the mysteries surrounding
2008 IEEE International Conference on Robotics and Automation, 2008
... It was demonstrated, however, that while the simulated foot trajectories differed from actual... more ... It was demonstrated, however, that while the simulated foot trajectories differed from actual insect foot paths during turning, the stance duration was longer for outside legs than inside legs, similar to what Dürr and Ebeling showed [6]. IV. BILL-LEGS SIMULATION RESULTS ...
2011 15th International Conference on Advanced Robotics (ICAR), 2011
Robot builders have often used insects as a source of inspiration when designing their mechanical... more Robot builders have often used insects as a source of inspiration when designing their mechanical systems, due to their ability to easily navigate uneven terrain, overcome or avoid obstacles, and adjust gaits based on traveling speed. Robotics has borrowed from nature with varying degrees of abstraction, from physical appearance to observed behaviours. This paper describes the design and construction of
IEEE Transactions on Neural Networks and Learning Systems, 2012
Animals such as stick insects can adaptively walk on complex terrains by dynamically adjusting th... more Animals such as stick insects can adaptively walk on complex terrains by dynamically adjusting their stepping motion patterns. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the neuromorphic central pattern generator (CPG) for rhythmic stepping pattern generation. This dynamic model can also be used to actuate the motoneurons on a leg joint with adjustable driving frequencies and duty cycles by changing a few of the model parameters while operating such that different stepping patterns can be generated. A novel mixed-signal integrated circuit design of this dynamic model is subsequently implemented, which, although simplified, shares the equivalent output performance in terms of the adjustable frequency and duty cycle. Three identical CPG models being used to drive three joints can make an arthropod leg of three degrees of freedom. With appropriate initial circuit parameter settings, and thus suitable phase lags among joints, the leg is expected to walk on a complex terrain with adaptive steps. The adaptation is associated with the circuit parameters mediated both by the higher level nervous system and the lower level sensory signals. The model is realized using a 0.3- complementary metal-oxide-semiconductor process and the results are reported.
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Biological inspiration has long been pursued as a key to more efficient, agile and elegant contro... more Biological inspiration has long been pursued as a key to more efficient, agile and elegant control in robotics. It has been a successful strategy in the design and control of robots with both biologically abstracted and biomimetic designs. Behavioral studies have resulted in a good understanding of the mechanics of certain animals. However, without a better understanding of their nervous
Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2011
... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1... more ... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1Case Western Reserve University Department of Electrical Engineering ... B. Two-Leg Platform A second platform was created using different hobby servo motors for joint actuation ...
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
Abstract Robotic control systems inspired by animals are enticing to the robot designer due to t... more Abstract Robotic control systems inspired by animals are enticing to the robot designer due to their promises of simplicity, elegance and robustness. While there has been success in applying general and behaviorally-based knowledge of biological systems to control, we are ...
... Robotic teams provide a different approach to the problem of regolith collection. ... [2] HW ... more ... Robotic teams provide a different approach to the problem of regolith collection. ... [2] HW Stone, Mars Pathfinder Microrover: A Small, Low-Cost, Low-Power Spacecraft, in AIAA Forum on Advanced Developments in Space Robotics, 1996. ...
Emerging Trends in Mobile Robotics - Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
A handful of robotic exploration rovers have had successful landings and missions on Mars. These ... more A handful of robotic exploration rovers have had successful landings and missions on Mars. These missions, however, were not without issues. The Mars Exploration Rovers (MER) Opportunity and Spirit, as examples, had several difficulties in traversing the terrain; and Spirit's mission ultimately ended due to becoming permanently embedded in loose soil. This paper describes the development of multiple sensor systems on a highly-mobile scout rover with overlapping areas of detection for data correlation and fault redundancy; allowing for collection of both rapid, cursory data while the rover is in motion and highly-detailed soil characteristic information while the rover is stopped. The mission-critical primary rover will also possess its own direct and remote sensing systems for added mission safety.
... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1... more ... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1Case Western Reserve University Department of Electrical Engineering ... B. Two-Leg Platform A second platform was created using different hobby servo motors for joint actuation ...
Insects, in general, are agile creatures capable of navigating uneven and difficult terrain with ... more Insects, in general, are agile creatures capable of navigating uneven and difficult terrain with ease. The leaf-cutter ants (Atta), specifically, are agile, social insects capable of navigating uneven and difficult terrain, manipulating objects in their environment, broadcasting messages to other leaf-cutter ants, performing collective tasks, and operating in cooperative manners with others of their kind (9)(12). These traits are desirable
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
For decades, insects have been a valuable source of inspiration for mechanical and control design... more For decades, insects have been a valuable source of inspiration for mechanical and control designs of legged robots. Anatomical and behavioral studies of insects such as cockroaches, stick insects and locusts have inspired the development of many robots. However, their control systems had to be engineered based upon behavioral studies and control hypotheses rather than neurobiology. Recent insect neurobiological discoveries now make it possible to control the legs of robots with a network found to control the legs of stick insects. In previous work this network we have dubbed {SCASM} {(Sensory-Coupled} Action Switching Modules) was shown coordinating the joints of a robot leg and adapting its normal leg cycle to irregularities in the terrain. We also showed that the {SCASM} network can be implemented effectively on a simple micro-controller with little computational power. This video describes additional sensory connections that, when added to {SCASM}, generate elevator and searching reflexes. We also show for the first time an autonomous hexapod robot walking over irregular terrain using a {SCASM} network to control each of its six legs and a Cruse type network to control its gait using only on-board, simple micro-controllers.
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Insects have long been a source of inspiration for the design and implementation of legged robots... more Insects have long been a source of inspiration for the design and implementation of legged robots. Their extraordinary mobility, agility, and adaptability are features sought after when developing competent, useful mobile walkers. Externally witnessed behaviors have been successfully implemented in walking robots for decades with great success. More recent years of biological study have solved some of the mysteries surrounding
2008 IEEE International Conference on Robotics and Automation, 2008
... It was demonstrated, however, that while the simulated foot trajectories differed from actual... more ... It was demonstrated, however, that while the simulated foot trajectories differed from actual insect foot paths during turning, the stance duration was longer for outside legs than inside legs, similar to what Dürr and Ebeling showed [6]. IV. BILL-LEGS SIMULATION RESULTS ...
2011 15th International Conference on Advanced Robotics (ICAR), 2011
Robot builders have often used insects as a source of inspiration when designing their mechanical... more Robot builders have often used insects as a source of inspiration when designing their mechanical systems, due to their ability to easily navigate uneven terrain, overcome or avoid obstacles, and adjust gaits based on traveling speed. Robotics has borrowed from nature with varying degrees of abstraction, from physical appearance to observed behaviours. This paper describes the design and construction of
IEEE Transactions on Neural Networks and Learning Systems, 2012
Animals such as stick insects can adaptively walk on complex terrains by dynamically adjusting th... more Animals such as stick insects can adaptively walk on complex terrains by dynamically adjusting their stepping motion patterns. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the neuromorphic central pattern generator (CPG) for rhythmic stepping pattern generation. This dynamic model can also be used to actuate the motoneurons on a leg joint with adjustable driving frequencies and duty cycles by changing a few of the model parameters while operating such that different stepping patterns can be generated. A novel mixed-signal integrated circuit design of this dynamic model is subsequently implemented, which, although simplified, shares the equivalent output performance in terms of the adjustable frequency and duty cycle. Three identical CPG models being used to drive three joints can make an arthropod leg of three degrees of freedom. With appropriate initial circuit parameter settings, and thus suitable phase lags among joints, the leg is expected to walk on a complex terrain with adaptive steps. The adaptation is associated with the circuit parameters mediated both by the higher level nervous system and the lower level sensory signals. The model is realized using a 0.3- complementary metal-oxide-semiconductor process and the results are reported.
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Biological inspiration has long been pursued as a key to more efficient, agile and elegant contro... more Biological inspiration has long been pursued as a key to more efficient, agile and elegant control in robotics. It has been a successful strategy in the design and control of robots with both biologically abstracted and biomimetic designs. Behavioral studies have resulted in a good understanding of the mechanics of certain animals. However, without a better understanding of their nervous
Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2011
... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1... more ... William A. Lewinger1, Brandon L. Rutter2, Marcus Blümel3, Ansgar Büschges3, Roger D. Quinn2 1Case Western Reserve University Department of Electrical Engineering ... B. Two-Leg Platform A second platform was created using different hobby servo motors for joint actuation ...
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
Abstract Robotic control systems inspired by animals are enticing to the robot designer due to t... more Abstract Robotic control systems inspired by animals are enticing to the robot designer due to their promises of simplicity, elegance and robustness. While there has been success in applying general and behaviorally-based knowledge of biological systems to control, we are ...
... Robotic teams provide a different approach to the problem of regolith collection. ... [2] HW ... more ... Robotic teams provide a different approach to the problem of regolith collection. ... [2] HW Stone, Mars Pathfinder Microrover: A Small, Low-Cost, Low-Power Spacecraft, in AIAA Forum on Advanced Developments in Space Robotics, 1996. ...
Emerging Trends in Mobile Robotics - Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
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