Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR
Source abstract
Abstract
In this paper we present a wheeled robot platform for child-parent robot collaboration. The new robot, named Big STAR (BSTAR), is fitted with a tail that can act as a ramp to carry and deploy a child RSTAR that can crawl between small cracks and underneath obstacles. Both robots possess sprawling capabilities inspired from insects, enabling them to transform their external geometry and dynamics to overcome a variety of obstacles. The BSTAR can travel at speeds of up to 1.4 m/s, carry payloads of more than five kilograms and travel over rough terrains. The collaboration between the two robots substantially increases their navigability and their capability to overcome obstacles. It increases their working distance and scouting area since the larger robot can act as a charging point for the smaller one. We first describe the design of the newly developed parent BSTAR robot and provide a kinematic and dynamic analysis that determines the force requirements of the robots when collaborating, followed by an evaluation of their mechanical and electrical requirements. We show that under multiple challenging scenarios the robot pair can successfully overcome a variety of obstacles.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Modular Robots and Swarm Intelligence · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical Engineering, Ben Gurion University of the Negev, Beer Sheva 8410501, Israel
References (31)
Show source-provided references
1. Morrey, J., Larribrecht, B., Horchler, A., Ritzmann, R., and Quinn, R. (2003, January 27–31). Highly mobile and robust small quadruped robots. Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, NV, USA.
2. Hoover, A.M., Burden, S., Fu, X.Y., Sastry, S.S., and Fearing, R.S. (2010, January 26–29). Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot. Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, Tokyo, Japan.10.1109/BIOROB.2010.5626034 ↗
3. Birkmeyer, P., Peterson, K., and Fearing, R.S. (2009, January 11–15). DASH: A dynamic 16g hexapedal robot. Proceedings of the The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis, MO, USA.10.1109/IROS.2009.5354561 ↗
4. iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running10.1177/0278364906069150 ↗
5. Pullin, A., Kohut, N., Zarrouk, D., and Fearing, R.S. (2012, January 14–19). Dynamic turning of 13 cm robot comparing tail and differential drive. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA.10.1109/ICRA.2012.6225261 ↗
6. Galloway, K.C., Haynes, G.C., Ilhan, B.D., Johnson, A.M., Knopf, R., Lynch, G., Plotnick, B., White, M., and Koditschek, D.E. (2010). X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks, University of Pennsylvania. Technical Report.
7. Fast and Robust: Hexapedal Robots via Shape Deposition Manufacturing10.1177/0278364902021010837 ↗
8. Kohut, N., Pullin, A., Haldane, D.W., Zarrouk, D., and Fearing, R.S. (2013, January 6–10). Precise dynamic turning of a 10 cm legged robot on a low friction surface using a tail. Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.10.1109/ICRA.2013.6631037 ↗
9. Zarrouk, D., Pullin, A., Kohut, N., and Fearing, R.S. (2013, January 6–10). STAR, a sprawl tuned autonomous robot. Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.10.1109/ICRA.2013.6630551 ↗
10. Karidis, P.K., Zarrouk, D., Poulakakis, I., Fearing, R.S., and Tanner, H.G. (2014, January 14–18). Planning with the STAR(s). Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL USA.10.1109/IROS.2014.6942981 ↗
11. Controlled In-Plane Locomotion of a Hexapod Using a Single Actuator10.1109/TRO.2014.2382981 ↗
12. Rising STAR: A Highly Reconfigurable Sprawl Tuned Robot10.1109/LRA.2018.2805165 ↗
13. Karras, J.T., Fuller, C.L., Carpenter, K.C., Buscicchio, A., Mckeeby, D., Norman, C.J., Parcheta, C.E., Davydychev, I., and Fearing, R.S. (June, January 28). Pop-up mars rover with textile-enhanced rigid-flex PCB body. Proceedings of the IEEE International Conference on Robotics and Automation, Marina Bay Sands, Singapore.
14. Wheel Transformer: A Wheel-Leg Hybrid Robot with Passive Transformable Wheels10.1109/TRO.2014.2365651 ↗
15. Biologically inspired climbing with a hexapedal robot10.1002/rob.20238 ↗
16. Scorpio: A Biomimetic Reconfigurable Rolling-Crawling Robot10.1177/1729881416658180 ↗
17. A reconfigurable multi-mode mobile parallel robot10.1016/j.mechmachtheory.2017.01.003 ↗
18. Ding, W., Detert, T., Corves, B., and Yao, Y.A. (2016). Reconbot: A Reconfigurable Rescue Robot Composed of Serial-Parallel Hybrid Upper Humanoid Body and Track Mobile Platform. New Advances in Mechanisms, Mechanical Transmissions and Robotics Mechanisms and Machine Science, Springer.10.1007/978-3-319-45450-4_24 ↗
19. Quattroped: A Leg--Wheel Transformable Robot10.1109/TMECH.2013.2253615 ↗
20. Sun, Y., and Ma, S. (2011, January 9–13). Decoupled kinematic control of terrestrial locomotion for an ePaddle-based reconfigurable amphibious robot. Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China.10.1109/ICRA.2011.5979886 ↗
21. Khan, M.T., Qadir, M.U., Nasir, F., and Silva, C.W.D. (2015, January 22–24). A framework for a fault tolerant multi-robot system. Proceedings of the 10th International Conference on Computer Science & Education, Cambridge, UK.10.1109/ICCSE.2015.7250242 ↗
22. Fong, T., Grange, S., Thorpe, C., and Baur, C. (2001, January 18–21). Multi-robot remote driving with collaborative control. Proceedings of the 10th IEEE International Workshop on Robot and Human Interactive Communication, Bordeaux, Paris, France.
23. Subdimensional expansion for multirobot path planning10.1016/j.artint.2014.11.001 ↗
24. Online Coverage by a Tethered Autonomous Mobile Robot in Planar Unknown Environments10.1109/TRO.2014.2301534 ↗
25. Active Antenna Tracking System with Directional Antennas for Enhancing Wireless Communication Capabilities of a Networked Robotic System10.1002/rob.21602 ↗
26. Vargas, A.M., Mizuuchi, K., Endo, D., Rohmer, E., Nagatani, K., and Yoshida, K. (2006, January 9–15). Development of a Networked Robotic System for Disaster Mitigation, Navigation System based on 3D Geometry Acquisition. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China.
27. Yang, Y., Xu, G., Wu, X., Feng, H., and Xu, Y. (2009, January 18–22). Parent-child robot system for rescue missions. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guilin, China.10.1109/ROBIO.2009.5420753 ↗
28. Huang, B., Li, M., and Sun, L. (2006, January 17–20). The Research of a parent-children type robot system. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Kunming, China.10.1109/ROBIO.2006.340361 ↗
29. Mechanical models for insect locomotion: Dynamics and stability in the horizontal plane I10.1007/s004220000181 ↗
30. Mechanical models for insect locomotion: Dynamics and stability in the horizontal plane II10.1007/s004220000180 ↗
31. Meiri, N., and Zarrouk, D. (2019, January 20–24). Flying STAR, a Hybrid Crawling and Flying Sprawl Tuned Robot. Proceedings of the International Conference on Robotics and Automation, Montreal, QC, Canada.10.1109/ICRA.2019.8794260 ↗