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Development of biomimetic modular robots

최승욱 (Choi, Seung Wook, Sogang University)

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I have developed two types of biomimetic robots. They mimics earthworm and pill bug. Both of them employ segmented solenoids to mimic crawling mechanism of soft-bodied creature. The latter is the advanced version of the former. The proposed robot has not only a simple structure composed of cores, co...
I have developed two types of biomimetic robots. They mimics earthworm and pill bug. Both of them employ segmented solenoids to mimic crawling mechanism of soft-bodied creature. The latter is the advanced version of the former. The proposed robot has not only a simple structure composed of cores, coils and wires, but it also enables bidirectional actuation and high speed locomotion regardless of friction condition. I have implemented the theoretical analysis on the optimal input signal to maximize travelling speed and predict the output force and stroke. After the theoretical analysis, I have verified it using a finite element analysis. Experiments using two prototypes show that the earthworm robot and the pill bug robot travel with a high speed regardless of friction conditions. Moreover, pill bug robot is also capable of realizing the passive defensive motion of Armadillium vulgare. Armadillium vulgare rolls up its body to protect itself when it faces hostile situation.