Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs

Sai Krishna Venkata Aditya, Jevgeni Ignasov, Konstantin Filonenko, Jørgen Christian Larsen, Emily Baird, John Hallam, Sebastian Büsse, Alexander Kovalev, Stanislav Gorb, Lars Duggen, Poramate Manoonpong

Research output: Contribution to conference without publisher/journalPosterResearchpeer-review

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Abstract

The African dung beetle Scarabaeus galenus can use its front legs to walk and manipulate or form a dung ball. The interesting multifunctional legs have not been fully investigated or even used as inspiration for robot leg design. Thus, in this paper, we present the development of real dung beetle-like front legs based on biological investigation. As a result, each leg consists of three main segments which were built using 3D printing. The segments were combined with in total four active DOFs in order to mimic locomotion and object manipulation of the beetle. Kinematics analysis of the leg was also performed to identify its workspace as well as to design its trajectory. To this end, the study contributes not only novel multifunctional robotic legs but also the methodology of the bio-inspired leg design.
Original languageEnglish
Publication date2017
Publication statusPublished - 2017
Event2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics - Kyoto University, Kyoto, Japan
Duration: 29. Oct 20171. Nov 2017
http://www.ohk.hiroshima-u.ac.jp/SWARM2017/
http://www.ohk.hiroshima-u.ac.jp/SWARM2017/

Conference

Conference2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
LocationKyoto University
CountryJapan
CityKyoto
Period29/10/201701/11/2017
Internet address

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Kinematics
Printing
Robotics
Trajectories
Robots

Cite this

Aditya, S. K. V., Ignasov, J., Filonenko, K., Larsen, J. C., Baird, E., Hallam, J., ... Manoonpong, P. (2017). Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs. Poster session presented at 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan.
Aditya, Sai Krishna Venkata ; Ignasov, Jevgeni ; Filonenko, Konstantin ; Larsen, Jørgen Christian ; Baird, Emily ; Hallam, John ; Büsse, Sebastian ; Kovalev, Alexander ; Gorb, Stanislav ; Duggen, Lars ; Manoonpong, Poramate. / Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs. Poster session presented at 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan.
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title = "Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs",
abstract = "The African dung beetle Scarabaeus galenus can use its front legs to walk and manipulate or form a dung ball. The interesting multifunctional legs have not been fully investigated or even used as inspiration for robot leg design. Thus, in this paper, we present the development of real dung beetle-like front legs based on biological investigation. As a result, each leg consists of three main segments which were built using 3D printing. The segments were combined with in total four active DOFs in order to mimic locomotion and object manipulation of the beetle. Kinematics analysis of the leg was also performed to identify its workspace as well as to design its trajectory. To this end, the study contributes not only novel multifunctional robotic legs but also the methodology of the bio-inspired leg design.",
author = "Aditya, {Sai Krishna Venkata} and Jevgeni Ignasov and Konstantin Filonenko and Larsen, {J{\o}rgen Christian} and Emily Baird and John Hallam and Sebastian B{\"u}sse and Alexander Kovalev and Stanislav Gorb and Lars Duggen and Poramate Manoonpong",
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language = "English",
note = "2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2017 ; Conference date: 29-10-2017 Through 01-11-2017",
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Aditya, SKV, Ignasov, J, Filonenko, K, Larsen, JC, Baird, E, Hallam, J, Büsse, S, Kovalev, A, Gorb, S, Duggen, L & Manoonpong, P 2017, 'Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs', 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan, 29/10/2017 - 01/11/2017.

Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs. / Aditya, Sai Krishna Venkata; Ignasov, Jevgeni; Filonenko, Konstantin; Larsen, Jørgen Christian; Baird, Emily; Hallam, John; Büsse, Sebastian; Kovalev, Alexander; Gorb, Stanislav ; Duggen, Lars; Manoonpong, Poramate.

2017. Poster session presented at 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan.

Research output: Contribution to conference without publisher/journalPosterResearchpeer-review

TY - CONF

T1 - Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs

AU - Aditya, Sai Krishna Venkata

AU - Ignasov, Jevgeni

AU - Filonenko, Konstantin

AU - Larsen, Jørgen Christian

AU - Baird, Emily

AU - Hallam, John

AU - Büsse, Sebastian

AU - Kovalev, Alexander

AU - Gorb, Stanislav

AU - Duggen, Lars

AU - Manoonpong, Poramate

PY - 2017

Y1 - 2017

N2 - The African dung beetle Scarabaeus galenus can use its front legs to walk and manipulate or form a dung ball. The interesting multifunctional legs have not been fully investigated or even used as inspiration for robot leg design. Thus, in this paper, we present the development of real dung beetle-like front legs based on biological investigation. As a result, each leg consists of three main segments which were built using 3D printing. The segments were combined with in total four active DOFs in order to mimic locomotion and object manipulation of the beetle. Kinematics analysis of the leg was also performed to identify its workspace as well as to design its trajectory. To this end, the study contributes not only novel multifunctional robotic legs but also the methodology of the bio-inspired leg design.

AB - The African dung beetle Scarabaeus galenus can use its front legs to walk and manipulate or form a dung ball. The interesting multifunctional legs have not been fully investigated or even used as inspiration for robot leg design. Thus, in this paper, we present the development of real dung beetle-like front legs based on biological investigation. As a result, each leg consists of three main segments which were built using 3D printing. The segments were combined with in total four active DOFs in order to mimic locomotion and object manipulation of the beetle. Kinematics analysis of the leg was also performed to identify its workspace as well as to design its trajectory. To this end, the study contributes not only novel multifunctional robotic legs but also the methodology of the bio-inspired leg design.

M3 - Poster

ER -

Aditya SKV, Ignasov J, Filonenko K, Larsen JC, Baird E, Hallam J et al. Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs. 2017. Poster session presented at 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan.