Effects of compliance in pedundulatory locomotion over granular substrates

Michael Sfakiotakis, Avgousta Chatzidaki, Theodoros Evdaimon, Asimina Kazakidi, Dimitris P. Tsakiris

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

The present paper investigates the effect of compliance on the locomotion of a biologically-inspired soft-body pedundulatory robotic system, employing lateral undulations of its elongated body, which are augmented by the oscillation of sets of lateral appendages (parapodia), to propel itself on unstructured granular substrates. We explore control strategy alternatives for the robot to generate two different locomotor gaits by employing direct or retrograde lateral body waves, combined with appropriately coordinated parapodial motion (pedundulatory modes). Computational models of this class of robots have been devised, which demonstrate the effects of joint compliance on gait generation and on the characteristics of robot propulsion. A new three-segment soft-body robotic prototype has been developed, whose body was fabricated by molding polyurethane elastomers, and was tested extensively on an experimental sandbox, on various formations of the granular substrate, to compare the performance of stiff and compliant joints. Body and joint compliance were found to enhance the adaptability of the robot to environmental irregularities, however they may deteriorate the proper formation of the un-dulatory body wave, degrading somewhat system performance in terms of the attained velocities.

Conference

Conference2016 24th Mediterranean Conference on Control and Automation (MED)
CountryGreece
CityAthens
Period21/06/1624/06/16

Fingerprint

Locomotion
Compliance
Robot
Substrate
Robots
Lateral
Gait
Substrates
Robotics
Elastomers
Molding
Irregularity
Adaptability
Computational Model
Propulsion
Polyurethanes
Control Strategy
System Performance
Prototype
Oscillation

Keywords

  • Biologically Inspired Systems
  • compliance
  • robotics
  • sand
  • soft robotics
  • undulatory robotics
  • mobile robots
  • adaptive systems
  • elastomers
  • compliance control
  • biomimetics
  • motion segmentation

Cite this

Sfakiotakis, M., Chatzidaki, A., Evdaimon, T., Kazakidi, A., & Tsakiris, D. P. (2016). Effects of compliance in pedundulatory locomotion over granular substrates. 532-538. Paper presented at 2016 24th Mediterranean Conference on Control and Automation (MED), Athens, Greece. https://doi.org/10.1109/MED.2016.7536061
Sfakiotakis, Michael ; Chatzidaki, Avgousta ; Evdaimon, Theodoros ; Kazakidi, Asimina ; Tsakiris, Dimitris P. / Effects of compliance in pedundulatory locomotion over granular substrates. Paper presented at 2016 24th Mediterranean Conference on Control and Automation (MED), Athens, Greece.7 p.
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Sfakiotakis, M, Chatzidaki, A, Evdaimon, T, Kazakidi, A & Tsakiris, DP 2016, 'Effects of compliance in pedundulatory locomotion over granular substrates' Paper presented at 2016 24th Mediterranean Conference on Control and Automation (MED), Athens, Greece, 21/06/16 - 24/06/16, pp. 532-538. https://doi.org/10.1109/MED.2016.7536061

Effects of compliance in pedundulatory locomotion over granular substrates. / Sfakiotakis, Michael; Chatzidaki, Avgousta; Evdaimon, Theodoros; Kazakidi, Asimina; Tsakiris, Dimitris P.

2016. 532-538 Paper presented at 2016 24th Mediterranean Conference on Control and Automation (MED), Athens, Greece.

Research output: Contribution to conferencePaper

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AU - Evdaimon, Theodoros

AU - Kazakidi, Asimina

AU - Tsakiris, Dimitris P.

N1 - (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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N2 - The present paper investigates the effect of compliance on the locomotion of a biologically-inspired soft-body pedundulatory robotic system, employing lateral undulations of its elongated body, which are augmented by the oscillation of sets of lateral appendages (parapodia), to propel itself on unstructured granular substrates. We explore control strategy alternatives for the robot to generate two different locomotor gaits by employing direct or retrograde lateral body waves, combined with appropriately coordinated parapodial motion (pedundulatory modes). Computational models of this class of robots have been devised, which demonstrate the effects of joint compliance on gait generation and on the characteristics of robot propulsion. A new three-segment soft-body robotic prototype has been developed, whose body was fabricated by molding polyurethane elastomers, and was tested extensively on an experimental sandbox, on various formations of the granular substrate, to compare the performance of stiff and compliant joints. Body and joint compliance were found to enhance the adaptability of the robot to environmental irregularities, however they may deteriorate the proper formation of the un-dulatory body wave, degrading somewhat system performance in terms of the attained velocities.

AB - The present paper investigates the effect of compliance on the locomotion of a biologically-inspired soft-body pedundulatory robotic system, employing lateral undulations of its elongated body, which are augmented by the oscillation of sets of lateral appendages (parapodia), to propel itself on unstructured granular substrates. We explore control strategy alternatives for the robot to generate two different locomotor gaits by employing direct or retrograde lateral body waves, combined with appropriately coordinated parapodial motion (pedundulatory modes). Computational models of this class of robots have been devised, which demonstrate the effects of joint compliance on gait generation and on the characteristics of robot propulsion. A new three-segment soft-body robotic prototype has been developed, whose body was fabricated by molding polyurethane elastomers, and was tested extensively on an experimental sandbox, on various formations of the granular substrate, to compare the performance of stiff and compliant joints. Body and joint compliance were found to enhance the adaptability of the robot to environmental irregularities, however they may deteriorate the proper formation of the un-dulatory body wave, degrading somewhat system performance in terms of the attained velocities.

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KW - compliance control

KW - biomimetics

KW - motion segmentation

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Sfakiotakis M, Chatzidaki A, Evdaimon T, Kazakidi A, Tsakiris DP. Effects of compliance in pedundulatory locomotion over granular substrates. 2016. Paper presented at 2016 24th Mediterranean Conference on Control and Automation (MED), Athens, Greece. https://doi.org/10.1109/MED.2016.7536061