Biologically Inspired Robot Lit Review

Bipeds

Fast Facts
Actuators	Servomotors (MPI-MX450)
DoF per Leg
Controller
Sensing

Modular/Unusual Leg Numbers

Octavio

Institution: University of Osnabrück Animal Inspiration: Stick insect

Publications
Arndt von Twickel, Manfred Hild, Torsten Siedel, Vishal Patel, Frank Pasemann. Neural control of a modular multi-legged walking machine: Simulation and hardware. 2012. Robotics and Autonomous Systems. Volume 60, Issue 2. pp. 227-241

Fast Facts
Actuation	Geared DC motors
DoF per Leg	5 (3 active, 2 passive)
Controller	Not strictly biomimetic SNS
Sensing	Ground contact Motor current Joint position Knee-obstacle distance Foot-ground distance

• From 4-8 legs, completely modular

• Compliant ankle joint in 2 directions

• Each active joint has a spring clutch connected in series with the motor–gear unit

  • Serves as overload protector

• Each leg has two infrared distance sensors to detect foot-ground distance and knee-obstacle distance

• CTr joint has parallel elasticity to support it (weakest actuator)

SCORPION

Institution: University of Bremen Animal Inspiration: Scorpion

Publications
Dirk Spenneberg, Frank Kirchner. 2007. The Bio-Inspired SCORPION Robot: Design,Control & Lessons Learned. Climbing and Walking Robots: towards New Applications.

Fast Facts
Actuation	Geared motors
DoF per Leg	3
Controller	Non-neural, biomimetic controller (PCR, uses abstracted CPGs)
Sensing	Joint position Vision Ground contact

• 8 legs

• Has compliance in distal segment for feet