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The Biologically Inspired Robotics Lab at Case Western Reserve University is directed by Dr. Roger Quinn. We are dedicated to the advancement of the field of robotics using insights gained through the study of biological mechanisms.
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Data from biological organisms such as the Deathhead Cockroach and crickets are used to create robots that can flexibly traverse irregular terrain. The resulting robots are also serving as models for understanding the dynamics of biological systems.
Shown below is Robot III, modeled on a Blaberus cockroach. Robot III has 24 degrees of freedom and is actuated by off-the-shelf pneumatic cylinders. Power, pressurized air, and control are all off-board.
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The cricket-like microrobot will be fully autonomous and will be able to walk and jump. Shown below is a prototype rear leg and a compressor built using a 5mm Smoovy motor.
Whegs™ robots combine the advantages of using wheels and legs. Wheels allow robots to move a relatively high speeds. Legs allow a robot to climb over objects that are much higher than could be overcome using wheels.
The robot pictured above is Mini-Whegs™ 1. It is 3 inches long, and can move up to 10 body lenghts/second. The wheel-legs are normally 60 degrees out of phase, but passive mechanical compliance allows them to come back into phase to improve its climbing ability.
Latest News
We have recently won the Best Video Award at the IEEE International Conference on Robotics and Automation 2005 (ICRA '05) for the following submission (43MB):
Lewinger, W.A., C.M. Harley, R.E. Ritzmann, M.S. Branicky, and R.D. Quinn. "Insect-like Antennal Sensing for Climbing and Tunneling Behavior in a Biologically-inspired Mobile Robot," IEEE International Conference on Robotics and Automation (ICRA'05) Video Proceedings, Barcelona, Spain, April 18-22, 2005.
Sponsors
We would like to thank the following who have supported this work:
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