Salto: Saltatorial Agile Locomotion on Terrain Obstacles
Through use of a specialized leg mechanism designed to enhance power
modulation, we constructed a jumping robot that achieved 78% of the
vertical jumping agility of a galago.
D.W. Haldane, M.M. Plecnik, J.K. Yim, and R.S. Fearing,
Science Robotics Dec. 2016
Jumping-Crawling Robot using Jumping Module (May.
A jumping module
attached to a small hexapedal crawler allows
controlled jumps of up to 2 meters height, while
the robot is capable of forward running. G-P.
Jung, C. Casarez, S-P. Jung, R.S. Fearing, and
(IEEE ICRA 2016) and
video SNU youtube
Folding of Ribbon Structures (May.
We propose the
concept of robotic ribbon folding for automatic
fabrication of robot structures. We demonstrate
robotic ribbon folding into 2D and 3D static
structures, and planar kinematic linkages
such as a simple non-crossing four-bar mechanism.
L. Wang, M.M. Plecnik, and R.S. Fearing, (IEEE
Climbing Cooperation Primitives
primitives using quasi-static force analysis to
enable a pair of underactuated millirobots to
cooperatively climb a step. A tension controlled
tether provides a necessary additional degree of
freedom. C. Casarez and R. Fearing, (IEEE ICRA
| Force Sensing Shell
using a Planar Sensor
We created a
low-cost, light-weight force-torque sensor using
photointerrupters with force sensivity of 17 mN.
This sensor can be used for body contact location
as well as environment drag forces. J. Goldberg
and R. Fearing, (IEEE IROS
2015) and video.
streamlined shapes in animals and robots enhance
traversability (June 2015)
We found that both
cockroaches and simple robots rely on shell shape
to roll the body to allow traversal through a
field of compliant stalks. Chen Li, et al.
Bioinspiration and Biomimetics and
Launching of an Ornithopter with a Hexapedal Robot
We develop a
cooperative launching system for a 13.2 gram
ornithopter micro-aerial vehicle (MAV), the
H2Bird, by carrying it on the VelociRoACH. We
determine the necessary initial velocity and pitch
angle for take off using force data collected in a
wind tunnel and use the VelociRoACH to reach these
initial conditions for successful launch. Rose et
ICRA May 2015) video
| Running beyond the
is a 54 gram experimental legged robot which was
developed to test hypotheses about running with
unnaturally high stride frequencies. It is capable
of running at stride frequencies up to 45 Hz, and
velocities up to 4.9 m/s, making it the fastest
legged robot relative to size. Haldane and Fearing
ICRA May 2015)
Anisotropic Leg Spines for Increased Traction
Collapsible leg spines found on insects and
spiders provide a passive mechanism for increased traction
while running over complex terrain. Spiny feet for VelociRoACH
reduced dimensionless Cost of Pulling by an order of magnitude
while robot speed while pulling load increased by 50%.
Lee and Fearing (IEEE ICRA May 2015)
| Detection of
Slippery Terrain with Picket Robot
conducted with StarlETH (ASL, ETH Zurich) and UCB
VelociRoACH using joint localization detected
slippery terrain with 92% accuracy. Haldane et al.
IEEE ICRA June 2014)
| Roll oscillation
A new dynamic
turning mode in legged robots is demonstrated,
which uses a phase-locked gait to excite coupled
height and roll oscillations. A modified robot
with enhanced roll oscillations turned at 206
deg/sec at a speed of 0.4 m/s. Haldane and Fearing
Particle Adhesion (Feb. 2013)
adhesion to glass spheres with a magnetically
actuated synthetic gecko adhesive is demonstrated.
Results show sphere pull-off forces can be
increased 10-fold by changing the ridge
orientation via the external magnetic field, and
that the effective elastic modulus can be changed
from 65 kPa to 1.5 MPa.
movie of controllable adhesive
Gillies et al. Advanced Functional Materials, 2013