Design and Implementation of a Shape Shifting Rolling–Crawling–Wall-Climbing Robot Article Swipe
Takeru Yanagida
,
Mohan Rajesh Elara
,
Thejus Pathmakumar
,
Karthikeyan Elangovan
,
Masami Iwase
·
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.3390/app7040342
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.3390/app7040342
Designing an urban reconnaissance robot is highly challenging work given the nature of the terrain in which these robots are required to operate. In this work, we attempt to extend the locomotion capabilities of these robots beyond what is currently feasible. The design and unique features of our bio-inspired reconfigurable robot, called Scorpio, with rolling, crawling, and wall-climbing locomotion abilities are presented in this paper. The design of the Scorpio platform is inspired by Cebrennus rechenbergi, a rare spider species that has rolling, crawling and wall-climbing locomotion attributes. This work also presents the kinematic and dynamic model of Scorpio. The mechanical design and system architecture are introduced in detail, followed by a detailed description on the locomotion modes. The conducted experiments validated the proposed approach and the ability of the Scorpio platform to synthesise crawling, rolling and wall-climbing behaviours. Future work is envisioned for using these robots as active, unattended, mobile ground sensors in urban reconnaissance missions. The accompanying video demonstrates the shape shifting locomotion capabilities of the Scorpio robot.
Related Topics
Concepts
Crawling
Robot
Climbing
Terrain
Robot locomotion
Kinematics
Computer science
Stair climbing
Mobile robot
Robotics
Simulation
Work (physics)
Engineering
Artificial intelligence
Human–computer interaction
Robot control
Mechanical engineering
Geography
Structural engineering
Cartography
Anatomy
Physiology
Medicine
Physics
Classical mechanics
Biology
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/app7040342
- https://www.mdpi.com/2076-3417/7/4/342/pdf?version=1490957090
- OA Status
- gold
- Cited By
- 50
- References
- 24
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2602319589
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W2602319589Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/app7040342Digital Object Identifier
- Title
-
Design and Implementation of a Shape Shifting Rolling–Crawling–Wall-Climbing RobotWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2017Year of publication
- Publication date
-
2017-03-30Full publication date if available
- Authors
-
Takeru Yanagida, Mohan Rajesh Elara, Thejus Pathmakumar, Karthikeyan Elangovan, Masami IwaseList of authors in order
- Landing page
-
https://doi.org/10.3390/app7040342Publisher landing page
- PDF URL
-
https://www.mdpi.com/2076-3417/7/4/342/pdf?version=1490957090Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2076-3417/7/4/342/pdf?version=1490957090Direct OA link when available
- Concepts
-
Crawling, Robot, Climbing, Terrain, Robot locomotion, Kinematics, Computer science, Stair climbing, Mobile robot, Robotics, Simulation, Work (physics), Engineering, Artificial intelligence, Human–computer interaction, Robot control, Mechanical engineering, Geography, Structural engineering, Cartography, Anatomy, Physiology, Medicine, Physics, Classical mechanics, BiologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
50Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 4, 2024: 5, 2023: 6, 2022: 9, 2021: 7Per-year citation counts (last 5 years)
- References (count)
-
24Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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