Bio-inspired design and movement generation of dung beetle-like legs

Jevgeni Ignasov, Aditya Kapilavai, Konstantin Filonenko, Jørgen Christian Larsen, Emily Baird, John Hallam, Sebastian Büsse, Alexander Kovalev, Stanislav N. Gorb, Lars Duggen, Poramate Manoonpong

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Resumé

African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also transporting it. Their multifunctional legs can be used as inspiration for the design of a multifunctional robot leg. Thus, in this paper, we present the development of real robot legs based on the study of the front legs of the beetle. The leg movements of the beetle, during walking as well as manipulating and transporting a dung ball, were observed and reproduced on the robot leg. Each robot leg consists of three main segments which were built using 3D printing. The segments were combined with four active joints in total (i.e., 4 degrees of freedom) to mimic the leg movements of the beetle for locomotion as well as object manipulation and transportation. Kinematics analysis of the leg was also performed to identify its workspace. The results show that the robot leg is able to perform all the movements with trajectories comparable to the beetle leg. To this end, the study contributes not only to the design of novel multifunctional robot legs but also to the methodology for bio-inspired leg design.
OriginalsprogEngelsk
TidsskriftArtificial Life and Robotics
Vol/bind23
Sider (fra-til)555-563
Antal sider9
ISSN1433-5298
DOI
StatusUdgivet - 1. dec. 2018

Fingeraftryk

Leg
Robots
Printing
Kinematics
Trajectories
Locomotion
Joints

Citer dette

Ignasov, Jevgeni ; Kapilavai, Aditya ; Filonenko, Konstantin ; Larsen, Jørgen Christian ; Baird, Emily ; Hallam, John ; Büsse, Sebastian ; Kovalev, Alexander ; Gorb, Stanislav N. ; Duggen, Lars ; Manoonpong, Poramate. / Bio-inspired design and movement generation of dung beetle-like legs. I: Artificial Life and Robotics. 2018 ; Bind 23. s. 555-563.
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title = "Bio-inspired design and movement generation of dung beetle-like legs",
abstract = "African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also transporting it. Their multifunctional legs can be used as inspiration for the design of a multifunctional robot leg. Thus, in this paper, we present the development of real robot legs based on the study of the front legs of the beetle. The leg movements of the beetle, during walking as well as manipulating and transporting a dung ball, were observed and reproduced on the robot leg. Each robot leg consists of three main segments which were built using 3D printing. The segments were combined with four active joints in total (i.e., 4 degrees of freedom) to mimic the leg movements of the beetle for locomotion as well as object manipulation and transportation. Kinematics analysis of the leg was also performed to identify its workspace. The results show that the robot leg is able to perform all the movements with trajectories comparable to the beetle leg. To this end, the study contributes not only to the design of novel multifunctional robot legs but also to the methodology for bio-inspired leg design.",
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Bio-inspired design and movement generation of dung beetle-like legs. / Ignasov, Jevgeni; Kapilavai, Aditya; Filonenko, Konstantin; Larsen, Jørgen Christian; Baird, Emily; Hallam, John; Büsse, Sebastian; Kovalev, Alexander; Gorb, Stanislav N.; Duggen, Lars; Manoonpong, Poramate.

I: Artificial Life and Robotics, Bind 23, 01.12.2018, s. 555-563.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

T1 - Bio-inspired design and movement generation of dung beetle-like legs

AU - Ignasov, Jevgeni

AU - Kapilavai, Aditya

AU - Filonenko, Konstantin

AU - Larsen, Jørgen Christian

AU - Baird, Emily

AU - Hallam, John

AU - Büsse, Sebastian

AU - Kovalev, Alexander

AU - Gorb, Stanislav N.

AU - Duggen, Lars

AU - Manoonpong, Poramate

PY - 2018/12/1

Y1 - 2018/12/1

N2 - African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also transporting it. Their multifunctional legs can be used as inspiration for the design of a multifunctional robot leg. Thus, in this paper, we present the development of real robot legs based on the study of the front legs of the beetle. The leg movements of the beetle, during walking as well as manipulating and transporting a dung ball, were observed and reproduced on the robot leg. Each robot leg consists of three main segments which were built using 3D printing. The segments were combined with four active joints in total (i.e., 4 degrees of freedom) to mimic the leg movements of the beetle for locomotion as well as object manipulation and transportation. Kinematics analysis of the leg was also performed to identify its workspace. The results show that the robot leg is able to perform all the movements with trajectories comparable to the beetle leg. To this end, the study contributes not only to the design of novel multifunctional robot legs but also to the methodology for bio-inspired leg design.

AB - African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also transporting it. Their multifunctional legs can be used as inspiration for the design of a multifunctional robot leg. Thus, in this paper, we present the development of real robot legs based on the study of the front legs of the beetle. The leg movements of the beetle, during walking as well as manipulating and transporting a dung ball, were observed and reproduced on the robot leg. Each robot leg consists of three main segments which were built using 3D printing. The segments were combined with four active joints in total (i.e., 4 degrees of freedom) to mimic the leg movements of the beetle for locomotion as well as object manipulation and transportation. Kinematics analysis of the leg was also performed to identify its workspace. The results show that the robot leg is able to perform all the movements with trajectories comparable to the beetle leg. To this end, the study contributes not only to the design of novel multifunctional robot legs but also to the methodology for bio-inspired leg design.

KW - Insect legs, Hexapod, Locomotion, Object manipulation, Motion analysis

KW - Locomotion

KW - Object manipulation

KW - Insect legs

KW - Hexapod

KW - Motion analysis

U2 - 10.1007/s10015-018-0475-5

DO - 10.1007/s10015-018-0475-5

M3 - Journal article

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SP - 555

EP - 563

JO - Artificial Life and Robotics

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SN - 1433-5298

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