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2015


Comparing the effect of different spine and leg designs for a small bounding quadruped robot
Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Eckert, P., Spröwitz, A., Witte, H., Ijspeert, A. J.

In Proceedings of ICRA, pages: 3128-3133, Seattle, Washington, USA, 2015 (inproceedings)

Abstract
We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine con- figurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed, while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds.

link (url) DOI Project Page [BibTex]

2015

link (url) DOI Project Page [BibTex]

2009


Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture

Spröwitz, A., Billard, A., Dillenbourg, P., Ijspeert, A. J.

In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pages: 4259-4264, IEEE, Kobe, 2009 (inproceedings)

Abstract
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for static structures.

DOI [BibTex]

2009

DOI [BibTex]