Hide metadata

dc.date.accessioned2019-09-30T05:38:27Z
dc.date.available2019-09-30T05:38:27Z
dc.date.created2019-09-21T22:08:59Z
dc.date.issued2019
dc.identifier.citationNygaard, Tønnes Frostad Martin, Charles Patrick Tørresen, Jim Glette, Kyrre . Self-Modifying Morphology Experiments with DyRET: Dynamic Robot for Embodied Testing. IEEE International Conference on Robotics and Automation. 2019
dc.identifier.urihttp://hdl.handle.net/10852/70590
dc.description.abstractIf robots are to become ubiquitous, they will need to be able to adapt to complex and dynamic environments. Robots that can adapt their bodies while deployed might be flexible and robust enough to meet this challenge. Previous work on dynamic robot morphology has focused on simulation, combining simple modules, or switching between locomotion modes. Here, we present an alternative approach: a self-reconfigurable morphology that allows a single four-legged robot to actively adapt the length of its legs to different environments. We report the design of our robot, as well as the results of a study that verifies the performance impact of self-reconfiguration. This study compares three different control and morphology pairs under different levels of servo supply voltage in the lab. We also performed preliminary tests in different uncontrolled outdoor environments to see if changes to the external environment supports our findings in the lab. Our results show better performance with an adaptable body, lending evidence to the value of self-reconfiguration for quadruped robots.
dc.languageEN
dc.publisherIEEE Service Center
dc.titleSelf-Modifying Morphology Experiments with DyRET: Dynamic Robot for Embodied Testing
dc.typeJournal article
dc.creator.authorNygaard, Tønnes Frostad
dc.creator.authorMartin, Charles Patrick
dc.creator.authorTørresen, Jim
dc.creator.authorGlette, Kyrre
cristin.unitcode185,15,5,42
cristin.unitnameForskningsgruppe for robotikk og intelligente systemer
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1
dc.identifier.cristin1727494
dc.identifier.bibliographiccitationinfo:ofi/fmt:kev:mtx:ctx&ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=IEEE International Conference on Robotics and Automation&rft.volume=&rft.spage=&rft.date=2019
dc.identifier.jtitleIEEE International Conference on Robotics and Automation
dc.identifier.doihttp://dx.doi.org/10.1109/ICRA.2019.8793663
dc.identifier.urnURN:NBN:no-73716
dc.type.documentTidsskriftartikkel
dc.type.peerreviewedPeer reviewed
dc.source.issn2152-4092
dc.identifier.fulltextFulltext https://www.duo.uio.no/bitstream/handle/10852/70590/1/nygaard-icra2019.pdf
dc.type.versionAcceptedVersion


Files in this item

Appears in the following Collection

Hide metadata