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Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Aaron M. Hoover
The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which can yield and flow in response to loading. To advance our understanding of the relevant modeling and design issues, we conduct a comparative study of the performance of DASH and RoACH, two small, biologically inspired, six legged, lightweight (~10 cm, ~20 g) robots fabricated using the smart composite microstructure (SCM) process. We systematically examine performance of both robots on rigid and flowing substrates. Varying both ground properties …