Abstract
Captain Basile is a robot inspired from the cockroach and built to participate at the SAE Walking Machine Challenge 2004, an undergraduate competition of walking robots.
The robot weighs 35 kg and is 86 cm long, 58 cm wide and 38 cm tall. Initially validated by the use of dynamic simulations, this pneumatic actuated hexapod is characterised by specialized legs, passive visco-elastic elements and a self-stabilizing posture. This mechanical system allows straight line running at 1.11 m/s and turning at 33.2 degrees per seconds with a simple feedforward control system.
This paper presents Captain Basile, its design, performances and the results from speed experiment.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
http://www.Mines.edu/fs_home/jsteele/wmc, [2002] CSM 2002 SAE Walking Machine Challenge.
Éric Lespérance, Alexis Lussier Desbiens, Marc-André Roux, Marc-André Lavoie and Philippe Fauteux, Design of a Small and Low-Cost Power Management Unit for a Cockroach-Like Running Robot, IROS 2005.
L. Ting, R. Blickhan, and R. Full, “Dynamic and static stability in hexapedal runners,” Journal of Experimental Biology, no. 197, pp. 251–269, 1994.
T. M. Kubow and R. J. Full, “The role of the mechanical system in control: a hypothesis of self-stabilization in hexapedal runners,” Royal Society of London, no. 354, pp. 849–861, 1999.
D. L. Jindrich and R. J. Full, “Many-legged maneuverability: dynamics of turning in hexapods,” Journal of experimental biology, no. 202, pp. 1603–1623, 1999.
J. E. Clark, J. G. Cham, S. A. Bailey, E. M. Froehlich, P. K. Nahata, R. J. Full, and M. R. Cutkosky, “Biomimetic design and fabrication of a hexapedal running robot,” IEEE International Conference on Robotics and Automation, May 2001.
R. Kram, B. Wong, and R. J. Full, “Three dimensional kinematics and limb kinetic energy of running cockroaches,” Journal of Experimental Biology, no. 200, pp. 1919–1929, 1997.
M. H. Raibert, Legged Robots that Balance, M. Press, Ed., Cambridge, MA, 1986.
M. B. Binnard, “Design of a small pneumatic walking robot”, Master of Science, Massachusetts Institute of Technology, Jan. 1995.
Thomas J. Allen, Roger D. Quinn, Richard J. Bachmann, Roy E. Ritzmann, “Abstracted Biological Principles Applied with Reduced Actuation Improve Mobility of Legged Vehicles”, Case Western Reserve University
James T. Watson, Roy E. Ritzmann, Sasha N. Zill, Alan J. Pollack, “Control of obstacle climbing in the cockroach, Blaberus discoidalis”. Case Western Reserve University, 2001.
U. Saranli, M. Buehler, D.E. Koditschek. “RHex: A Simple and Highly Mobile Hexapod Robot.” The International Journal of Robotics Research 20 (2001) July 616–631.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lavoie, MA., Desbiens, A.L., Roux, MA., Fauteux, P., Lespérance, É. (2006). Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_37
Download citation
DOI: https://doi.org/10.1007/3-540-26415-9_37
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
eBook Packages: EngineeringEngineering (R0)