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Paper TuCT9.1

Shield, Stacey Leigh (University of Cape Town), Fisher, Callen (University of Cape Town), Patel, Amir (University of Cape Town)

A Spider-Inspired Dragline Enables Aerial Pitch Righting in a Mobile Robot

Scheduled for presentation during the Regular session "Biologically-Inspired Robots 1" (TuCT9), Tuesday, September 29, 2015, 11:20−11:35, Saal 8

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on June 6, 2020

Keywords Biologically-Inspired Robots, Motion Control, Underactuated Robots

Abstract

This paper presents a novel approach to achieving aerial pitch righting in a mobile robot, inspired by the draglines used by jumping spiders. We developed and simulated a mathematical model of the spider during the aerial phase of its jump to gain further insight into the factors affecting the pitch response. The results demonstrate that the dragline could also potentially function as a brake, slowing the spider down before landing. Subsequently, we developed a small robotic platform to demonstrate dragline-based aerial pitch righting on a robot experimentally. Lastly, the possible size and weight advantages over other pitch righting methods are discussed.

 

 

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