2019/09/25 by Jeremy Epps, Epps, Jeremy, Éric Féron +3
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1909.11653
openalex publication_date 2019/09/25 · openalex created_date 2022/07/28 · openalex updated_date 2026/07/28
The field of bio-inspired robotics seeks to create mechanical systems that\nmimic the designs and concepts used by biological systems. One of the more\nchallenging biological concepts to imitate in mechanical systems is the ability\nto create an internal environment that can foster homeostasis through the use\nof a membrane similar to skin. A robot with this ability would be able to\nregulate internal parameters, repair itself using the internal sub-environment,\nand defend its internal parts from the surrounding environment. This paper\npresents the internal structure of a non-holonomic wheeled system that enables\nhomeostasis via a fully connected interior, protected from the outside\nenvironment by a flexible membrane. The three objectives of this paper are to:\n1) Explore the idea of nature creating higher-order life forms with wheeled\nlimbs given the correct intermediate steps. 2) Characterize a robot that uses a\nhomeostasis enabling wheel. 3) Determine the feasibility of using a homeostasis\nenabling wheel as a mode of locomotion.\n