Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lim, Seunghyun | - |
dc.contributor.author | Song, Jinhyeok | - |
dc.contributor.author | Yun, Dongwon | - |
dc.date.accessioned | 2024-08-12T17:10:16Z | - |
dc.date.available | 2024-08-12T17:10:16Z | - |
dc.date.created | 2024-03-28 | - |
dc.date.issued | 2024-05 | - |
dc.identifier.issn | 2640-4567 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/56805 | - |
dc.description.abstract | This study investigates the effect of tortoise-inspired locomotion on enhancing energy efficiency in legged robots. Tortoises, known for their high locomotion efficiency, provide a unique model for robot and gait design, where their specific gait and posture significantly contribute to energy efficiency. This study hypothesizes that the gait and belly-dragging posture of tortoises can improve the energy efficiency of robots. To test this hypothesis, a quadruped robot mimicking these tortoise characteristics is developed, utilizing the cost of transport (CoT) as a measure of energy efficiency. Dynamic simulations and real-world experiments are conducted, varying parameters like robot size, mass, friction coefficient, and Froude number, to validate the generality of the findings. The results indicate that both belly dragging, a postural characteristic of tortoises, and their diagonal gait significantly lower the robot's CoT. This suggests that the energy-efficient locomotion of tortoises, specifically the diagonal gait with belly dragging, is transferable to robotic platforms to enhance energy efficiency. The tortoise-inspired robot design offers significant potential in applications such as search and rescue operations, space exploration, and payload transportation. Furthermore, the tortoise-inspired locomotion strategy can be effectively integrated with other research focusing on energy efficiency improvements through mechanical structures or control strategies. © 2024 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH. | - |
dc.language | English | - |
dc.publisher | Wiley | - |
dc.title | A Study on the Effect of Belly-Dragging Locomotion on a Robot that Mimics a Heavy Reptile | - |
dc.type | Article | - |
dc.identifier.doi | 10.1002/aisy.202300720 | - |
dc.identifier.wosid | 001180813600001 | - |
dc.identifier.scopusid | 2-s2.0-85186942880 | - |
dc.identifier.bibliographicCitation | Advanced Intelligent Systems, v.6, no.5 | - |
dc.description.isOpenAccess | TRUE | - |
dc.subject.keywordAuthor | biomimetic and bioinspired robotics | - |
dc.subject.keywordAuthor | designs | - |
dc.subject.keywordAuthor | mechanisms | - |
dc.subject.keywordAuthor | mobility and locomotions | - |
dc.subject.keywordAuthor | modeling and controls | - |
dc.subject.keywordPlus | WALKING | - |
dc.subject.keywordPlus | TURTLE | - |
dc.subject.keywordPlus | ENERGETICS | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | SPEED | - |
dc.subject.keywordPlus | SHELL | - |
dc.subject.keywordPlus | GAITS | - |
dc.subject.keywordPlus | MASS | - |
dc.citation.number | 5 | - |
dc.citation.title | Advanced Intelligent Systems | - |
dc.citation.volume | 6 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems; Computer Science; Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems; Computer Science, Artificial Intelligence; Robotics | - |
dc.type.docType | Article | - |