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Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

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A tracked robot with novel bio-inspired passive "legs".

Bo Sun¹, Xingjian Jing^1,2

¹Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China.

Robotics and Biomimetics

|December 5, 2017

Summary

A new bio-inspired suspension enhances track-based robots. This design improves mobility and comfort on rough terrain, crucial for robots carrying sensitive equipment.

Keywords:

Bio-inspired X-shaped structures Mobile robots Stability control Track-based robots

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Area of Science:

Robotics
Mechanical Engineering
Bio-inspired Design

Background:

Track-based robots require effective suspension for mobility and operational stability.
Existing suspension systems often compromise between load capacity and ride comfort.
Robot performance is significantly impacted by terrain adaptability and vibration reduction.

Purpose of the Study:

To design and analyze a novel passive bio-inspired suspension system for track-based robots.
To enhance robot trafficability and riding comfort without sacrificing load capacity.
To leverage biological locomotion principles for improved robotic performance.

Main Methods:

A passive, bio-inspired suspension system with novel 'legs' was designed for wheel attachment.
The suspension's passive structures were engineered for high load capacity and low dynamic stiffness.
Systematic study and analysis of the designed suspension's performance characteristics.

Main Results:

The bio-inspired suspension demonstrated high loading capacity.
The system achieved low dynamic stiffness, enhancing adaptability to rough terrain.
Significant improvements in trafficability and riding comfort were observed.

Conclusions:

The novel passive bio-inspired suspension effectively improves track-based robot performance.
This design offers a stable, mobile platform with excellent load-bearing capabilities for diverse engineering tasks.
The bio-mimetic approach provides a viable solution for enhancing robotic systems in challenging environments.