| 1. |
- Aguzzi, Jacopo, et al.
(författare)
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Developing technological synergies between deep-sea and space research
- 2022
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Ingår i: Elementa. - 2325-1026. ; 10
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Tidskriftsartikel (refereegranskat)abstract
- Recent advances in robotic design, autonomy and sensor integration create solutions for the exploration of deep-sea environments, transferable to the oceans of icy moons. Marine platforms do not yet have the mission autonomy capacity of their space counterparts (e.g., the state of the art Mars Perseverance rover mission), although different levels of autonomous navigation and mapping, as well as sampling, are an extant capability. In this setting their increasingly biomimicked designs may allow access to complex environmental scenarios, with novel, highly-integrated life-detecting, oceanographic and geochemical sensor packages. Here, we lay an outlook for the upcoming advances in deep-sea robotics through synergies with space technologies within three major research areas: biomimetic structure and propulsion (including power storage and generation), artificial intelligence and cooperative networks, and life-detecting instrument design. New morphological and material designs, with miniaturized and more diffuse sensor packages, will advance robotic sensing systems. Artificial intelligence algorithms controlling navigation and communications will allow the further development of the behavioral biomimicking by cooperating networks. Solutions will have to be tested within infrastructural networks of cabled observatories, neutrino telescopes, and off-shore industry sites with agendas and modalities that are beyond the scope of our work, but could draw inspiration on the proposed examples for the operational combination of fixed and mobile platforms.
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| 2. |
- Chellapurath, Mrudul, et al.
(författare)
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USLIP dynamics emerges in underwater legged robot with foot kinematics of punting crabs
- 2024
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Ingår i: Mechatronics (Oxford). - : Elsevier BV. - 0957-4158 .- 1873-4006. ; 99
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Tidskriftsartikel (refereegranskat)abstract
- This article investigates bioinspired solutions for achieving stable dynamic gaits in legged robots through leg coordination and foot trajectories. In this study, we recorded the kinematics of underwater running of the crab, Pachygrapsus marmoratus, and implemented the parameterized foot trajectories and inter-leg coordination on an underwater legged robot, SILVER 2.0. The robot's design parameters like legs’ stiffness, leg length, and body mass are based on the Underwater Spring Loaded Inverted Pendulum (USLIP), a model that describes underwater running in animals. With this implementation, we observed the spontaneous emergence of USLIP dynamics in 20% of the strides in the robot. This approach allowed SILVER 2.0 to leverage the advantages of stable dynamic gaits while optimizing the foot trajectory and inter-leg coordination, resulting in improved locomotion performances. The robot achieved a forward velocity of 0.16 m/s, twice the value obtained in previous gaits. Our study presents a promising approach for improving the locomotion performance of legged robots, enabling their effective use in various field applications, and further confirms a broad embedding of controllers generating template dynamics.
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