salamander robot
164693913
Development of 18 DOF Salamander Robot Using CPG Based Locomotion for Straight Forward Walk
Munadi Munadi Mochammad Ariyanto Kharisma Agung Pambudi Joga Dharma Setiawan
213170681
A Salamander Robot Driven by Cross Coupled Sensory Feedback Control between Legs and Trunk
Shura Suzuki Takeshi Kano Auke Jan Ijspeert Akio Ishiguro
67354007
Design of a salamander robot using half circle legs for locomotion studies in complex terrain conditions
Patricia Capsi Morales
199490319
A Novel Locomotion Controller Based on Coordination Between Leg and Spine for a Quadruped Salamander Like Robot
In this paper, a quadruped salamander like robot with the capability of traversing complex terrain is developed, which presents not only leg joints used in traditional legged robots, but also spine joints, so as to increases its flexibility. To coordinate spine and leg joints to balance the robot's center of gravity, a novel control method is proposed, which consists of an inverse kinematics based control, a bio inspired mechanism, and a coordination law. Specifically, the inverse kinematics is utilized to calculate the control for the legs, and biological inspiration is employed for the control of the spine, while the coordination between the legs and the spine is ensured by the utilization of the static stability principle. Some typical experiments, including walking straight, turning, and avoiding obstacles, are performed for the developed quadruped salamander like robot, with the collected results convincingly demonstrating the effectiveness of the proposed control method and the developed robot.
2019 12th International Workshop on Robot Motion and Control (RoMoCo)
Xueyou Zhang Yongchun Fang Wei Zhu Xian Guo
3193002
From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model
The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of salamanders to switch between swimming and walking. The model suggests neural mechanisms for modulation of velocity, direction, and type of gait that are relevant for all tetrapods. It predicts that limb oscillatory centers have lower intrinsic frequencies than body oscillatory centers, and we present biological data supporting this.
Science
Auke Jan Ijspeert Alessandro Crespi Dimitri Ryczko Jean-Marie Cabelguen
1798276
Analysis of the terrestrial locomotion of a salamander robot
Salamanders propel themselves by proper coordination of limb movements and body undulations. This type of locomotion is interesting for robotics to design robots capable of locomotion on water and land. In this work we identify the control and structural parameters that contribute to forward terrestrial locomotion. We introduce a kinematic model of Salamandra robotica II, a new salamander robot, to explore how the stride length varies with different limb sizes and different types of body oscillations. We also perform systematic tests using a dynamic model built in a physics based simulator to analyze the locomotion performance in terms of forward speed and power consumption. The results show that it is beneficial to use body undulations with variable curvature along the body, and that the tail can serve as a fifth limb to provide thrust on ground. Experiments using the real robot validate the simulation results and the contribution of the proposed control strategies.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Konstantinos Karakasiliotis Auke Jan Ijspeert
190912034
Hardware and software update for the salamander robot
Projecte realitzat en el marc d'un programa de mobilitat amb la Ecole Polytechnique Federale de Lausanne
Jordi Vilanova
55576349
Robot salamandra anfibio con locomocion bioinspirada Robotics amphibious salamander with bio inspired locomotion
1Departamento de Electrica y Electronica DEEE, Universidad de las Fuerzas Armadas ESPE, Sangolqui Ecuador. 2Departamento de Seguridad y Defensa DESD, Universidad de las Fuerzas Armadas ESPE, Sangolqui Ecuador. 3Centro de Investigacion Cientifica y Tecnologica del Ejercito CICTE, Universidad de las Fuerzas Armadas ESPE, Sangolqui Ecuador. 4,*Grup de Recerca en Enginyeria del Coneixement GREC, Universitat Politecnica de Catalunya UPC, Barcelona Espana. Autor para correspondencia wgaguilar@espe.edu.ec 5Departament de Genetica, Universitat de Barcelona UB, Barcelona Espana. Recibido: 01 11 2016, aprobado tras revision: 20 12 2016 Forma sugerida de citacion: Luna, M. Moya, J. Aguilar, W. Abad, V. (2017) <Robot salamandra anfibio con locomocion bioinspirada> Ingenius. N.*17, (Enero Junio) pp. 51 59. ISSN: 1390 650X. Resumen Abstract
Marco A Luna Julio F Moya Wilbert G Aguilar Vanessa Abad
11692991
A Novel Design of a Salamander Robot Based on 3D Skeleton Kinematics of Real Salamanders.
Navid Khajeh MahabadiA Novel design of a salamander like robot based on 3D skeleton kinematics of real salamandersAbstract This project addresses the design and development of an amphibious salama
Navid Mahabadi
196118139
Coordinated Body Bending Improves Performance of a Salamander like Robot
Yasemin Ozkan-Aydin Baxi Chong Chaohui Gong Jennifer M Rieser Howie Choset Daniel I Goldman