NDLI: Robot designed for walking and climbing based on abstracted cockroach locomotion mechanisms

Content Provider	IEEE Xplore Digital Library
Author	Wei, T.E. Quinn, R.D. Ritzmann, R.E.
Copyright Year	2005
Description	Author affiliation: Mechanical Eng., Case Western Reserve Univ., Cleveland, OH (Wei, T.E.; Quinn, R.D.)
Abstract	MechaRoach II is a hexapod robot under development that can walk on horizontal surfaces, climb on inclined or vertical mesh surfaces, and test strategies for transitioning between the two. The locomotion principles that allow cockroaches to make these transitions have been studied and mechanisms using abstractions of those principles have been developed for the robot. These principles include usage of features of leg and foot morphology, leg compliance, gait adaptation, and body flexion. MechaRoach II has a single drive motor, a motor for steering, and a motor to actuate a body flexion joint. The single drive motor powers all six legs, and each leg uses 4-bar mechanisms to recreate cockroach-like foot trajectories. Cockroaches have been shown to flex their bodies downward between the first and second thoracic segments or rear their bodies upward using their middle legs during transitions between climbing on vertical surfaces and walking on horizontal ones. Similarly, MechaRoach II's body joint rears the front of the robot upward or downward during transitioning. The robot normally walks in a tripod gait with contralateral legs 180 degrees out of phase, but uses passive torsionally compliant devices to bring contralateral legs into phase for climbing
Starting Page	1471
Ending Page	1476
File Size	261603
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511218
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Surface morphology Leg Robots Foot Inspection Switches Biological systems USA Councils Testing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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