OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain

Paskarbeit J, Beyer S, Engel M, Gucze A, Schroder J, Schneider A (2021)
Robotics and Autonomous Systems 140: 103715.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Autor*in
Paskarbeit, JanUniBi; Beyer, Simon; Engel, Matthaus; Gucze, Adrian; Schroder, Johann; Schneider, AxelUniBi
Abstract / Bemerkung
Inspired by the abilities of amoeba to alter their shape, a continuous-track robot called OUROBOT has been developed that is able to adapt its shape to the environment. Using tactile sensors at the outer hull of the robot, the outline of the terrain and collisions with obstacles can be detected. Thus, the robot is able to locomote in uneven terrain and climb steep slopes. Since the shape adaption is based on run-time optimization, the quality function can be easily expanded to consider additional side conditions. The functionality of the proposed approach is demonstrated both in simulation and hardware. (C) 2020 Elsevier B.V. All rights reserved.
Stichworte
Closed-kinematic-chain; Mobile robotics; Bioinspired; Tactile sensors; Terrain adaptation; Obstacle evasion; High DoF; Online optimization
Erscheinungsjahr
2021
Zeitschriftentitel
Robotics and Autonomous Systems
Band
140
Art.-Nr.
103715
ISSN
0921-8890
eISSN
1872-793X
Page URI
https://pub.uni-bielefeld.de/record/2955096

Zitieren

Paskarbeit J, Beyer S, Engel M, Gucze A, Schroder J, Schneider A. OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain. Robotics and Autonomous Systems. 2021;140: 103715.
Paskarbeit, J., Beyer, S., Engel, M., Gucze, A., Schroder, J., & Schneider, A. (2021). OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain. Robotics and Autonomous Systems, 140, 103715. https://doi.org/10.1016/j.robot.2020.103715
Paskarbeit, J., Beyer, S., Engel, M., Gucze, A., Schroder, J., and Schneider, A. (2021). OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain. Robotics and Autonomous Systems 140:103715.
Paskarbeit, J., et al., 2021. OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain. Robotics and Autonomous Systems, 140: 103715.
J. Paskarbeit, et al., “OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain”, Robotics and Autonomous Systems, vol. 140, 2021, : 103715.
Paskarbeit, J., Beyer, S., Engel, M., Gucze, A., Schroder, J., Schneider, A.: OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain. Robotics and Autonomous Systems. 140, : 103715 (2021).
Paskarbeit, Jan, Beyer, Simon, Engel, Matthaus, Gucze, Adrian, Schroder, Johann, and Schneider, Axel. “OUROBOT-A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain”. Robotics and Autonomous Systems 140 (2021): 103715.

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