Robot locomotionRobot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.
Legged robotLegged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry. Legged robots, or walking machines, are designed for locomotion on rough terrain and require control of leg actuators to maintain balance, sensors to determine foot placement and planning algorithms to determine the direction and speed of movement.
QuadrupedalismQuadrupedalism is a form of locomotion where four limbs are used to bear weight and move around. An animal or machine that usually maintains a four-legged posture and moves using all four limbs is said to be a quadruped (from Latin quattuor for "four", and pes, pedis for "foot"). Quadruped animals are found among both vertebrates and invertebrates. Although the words ‘quadruped’ and ‘tetrapod’ are both derived from terms meaning ‘four-footed’, they have distinct meanings.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Soft roboticsSoft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans. The goal of soft robotics is the design and construction of robots with physically flexible bodies and electronics. Sometimes softness is limited to part of the machine.
Hexapod (robotics)A six-legged walking robot should not be confused with a Stewart platform, a kind of parallel manipulator used in robotics applications. A hexapod robot is a mechanical vehicle that walks on six legs. Since a robot can be statically stable on three or more legs, a hexapod robot has a great deal of flexibility in how it can move. If legs become disabled, the robot may still be able to walk. Furthermore, not all of the robot's legs are needed for stability; other legs are free to reach new foot placements or manipulate a payload.
Terrestrial locomotionTerrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the increased effects of gravity. As viewed from evolutionary taxonomy, there are three basic forms of animal locomotion in the terrestrial environment: legged – moving by using appendages limbless locomotion – moving without legs, primarily using the body itself as a propulsive structure.
Animal locomotionAnimal locomotion, in ethology, is any of a variety of methods that animals use to move from one place to another. Some modes of locomotion are (initially) self-propelled, e.g., running, swimming, jumping, flying, hopping, soaring and gliding. There are also many animal species that depend on their environment for transportation, a type of mobility called passive locomotion, e.g., sailing (some jellyfish), kiting (spiders), rolling (some beetles and spiders) or riding other animals (phoresis).
Bio-inspired roboticsBio-inspired robotic locomotion is a fairly new subcategory of bio-inspired design. It is about learning concepts from nature and applying them to the design of real-world engineered systems. More specifically, this field is about making robots that are inspired by biological systems, including Biomimicry. Biomimicry is copying from nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature.
Motion controlMotion control is a sub-field of automation, encompassing the systems or sub-systems involved in moving parts of machines in a controlled manner. Motion control systems are extensively used in a variety of fields for automation purposes, including precision engineering, micromanufacturing, biotechnology, and nanotechnology. The main components involved typically include a motion controller, an energy amplifier, and one or more prime movers or actuators. Motion control may be open loop or closed loop.
Pneumatic artificial musclesPneumatic artificial muscles (PAMs) are contractile or extensional devices operated by pressurized air filling a pneumatic bladder. In an approximation of human muscles, PAMs are usually grouped in pairs: one agonist and one antagonist. PAMs were first developed (under the name of McKibben Artificial Muscles) in the 1950s for use in artificial limbs. The Bridgestone rubber company (Japan) commercialized the idea in the 1980s under the name of Rubbertuators.
Boston DynamicsBoston Dynamics is an American engineering and robotics design company founded in 1992 as a spin-off from the Massachusetts Institute of Technology. Headquartered in Waltham, Massachusetts, Boston Dynamics has been owned by the Hyundai Motor Group since December 2020, but having only completed the acquisition in June 2021. Boston Dynamics develops of a series of dynamic highly mobile robots, including BigDog, Spot, Atlas, and Handle.
RoboticsRobotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.
BipedalismBipedalism is a form of terrestrial locomotion where a tetrapod moves by means of its two rear (or lower) limbs or legs. An animal or machine that usually moves in a bipedal manner is known as a biped ˈbaɪpɛd, meaning 'two feet' (from Latin bis 'double' and pes 'foot'). Types of bipedal movement include walking or running (a bipedal gait) and hopping. Several groups of modern species are habitual bipeds whose normal method of locomotion is two-legged.
LegA leg is a weight-bearing and locomotive anatomical structure, usually having a columnar shape. During locomotion, legs function as "extensible struts". The combination of movements at all joints can be modeled as a single, linear element capable of changing length and rotating about an omnidirectional "hip" joint. As an anatomical animal structure it is used for locomotion. The distal end is often modified to distribute force (such as a foot). Most animals have an even number of legs.
Fish finFins are distinctive anatomical features composed of bony spines or rays protruding from the body of Actinopterygii and Chondrichthyes fishes. They are covered with skin and joined together either in a webbed fashion, as seen in most bony fish, or similar to a flipper, as seen in sharks. Apart from the tail or caudal fin, fish fins have no direct connection with the spine and are supported only by muscles. Their principal function is to help the fish swim.
ProsthesisIn medicine, a prosthesis (: prostheses; from prósthesis), or a prosthetic implant, is an artificial device that replaces a missing body part, which may be lost through trauma, disease, or a condition present at birth (congenital disorder). Prostheses are intended to restore the normal functions of the missing body part. Amputee rehabilitation is primarily coordinated by a physiatrist as part of an inter-disciplinary team consisting of physiatrists, prosthetists, nurses, physical therapists, and occupational therapists.
3D printing3D printing or additive manufacturing is the construction of a three-dimensional object from a CAD model or a digital 3D model. It can be done in a variety of processes in which material is deposited, joined or solidified under computer control, with material being added together (such as plastics, liquids or powder grains being fused), typically layer by layer. In the 1980s, 3D printing techniques were considered suitable only for the production of functional or aesthetic prototypes, and a more appropriate term for it at the time was rapid prototyping.
