Accession Number : ADA568995


Title :   Laboratory on Legs: An Architecture for Adjustable Morphology with Legged Robots


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA NATIONAL ROBOTICS ENGINEERING CENTER (NREC)


Personal Author(s) : Haynes, G C ; Pusey, Jason ; Knopf, Ryan ; Johnson, Aaron M ; Koditschek, Daniel E


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a568995.pdf


Report Date : Apr 2012


Pagination or Media Count : 15


Abstract : For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot to operate as a mobile laboratory on legs. In the present paper we will introduce the specification, design and very earliest operational data of Canid, an actively driven compliant-spined quadruped whose completely different morphology and intended dynamical operating point are nevertheless built around exactly the same ?Lab on Legs? actuation, computation, and sensing infrastructure. We will review as well more briefly a second RHex variation, the XRL platform, built using the same components.


Descriptors :   *ROBOTS , ACTUATION , ARCHITECTURE , MOBILE , MORPHOLOGY , PLATFORMS , SPECIFICATIONS


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE