2DxoPod - A Modular Robot for Mimicking Locomotion in Vertebrates
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2DxoPod - A Modular Robot for Mimicking Locomotion in Vertebrates S. Sankhar Reddy CH.1
· Abhimanyu2 · Rohan Godiyal2 · Tejas Zodage2 · Tejas Rane2
Received: 20 November 2019 / Accepted: 5 October 2020 © Springer Nature B.V. 2020
Abstract The domain of robotics is successfully automating majority of terrestrial applications with significant breakthroughs in research involving wheeled robots. Robots equipped with biomimetic capabilities can aid effectively in many scenarios where conventional infrastructure such as roads, flat terrains and wheeled robots are not available. 2DxoPod is a modular robot developed with the aim improve the mobility in robots in challenging scenarios by taking advantage of its features tuned to enhance biomimetic capabilities. A novel joint mechanism present at the center of the robotic design is capable of mimicking movements in vertebrates and providing two degrees of freedom that are orthogonal and coincident to each other. The paper describes characteristics of the 2DxoPod module and it’s advantages with respect to modular robots developed in the field of robotics. Simulations are performed on navigation capabilities of the snake and quadruped robotic coordinated structures assembled using 2DxoPod robotic modules using centralized pattern generator and the results of the same are also provided in the paper. Keywords Robotics · Modular · Biomimetics · Coordinated structures · Vertebrates
1 Introduction Exploration of various natural habitats and uncharted areas in terrestrial as well as underwater topographies is a yet an unraveled mystery in real-world applications. Conventional robots are generally designed for operating on standard infrastructures such as roads, pathways and flattened terrains available at the field of deployment of robots. Such minimal complexity is seldom found in the real-world applications and the complexities faced in such scenarios are optimally handled with robots with pervasive, flexible and dynamic nature. Biomimetics is a possible solution as it derives its inspiration from living organisms present in the environment for dynamically solving the challenges faced in real-time. Biomimetics is already a well accepted and applied field of study in the domain of robotics for applications such production of manufacturing tools [1], domestic appliances
S. Sankhar Reddy CH.
[email protected]
Extended author information available on the last page of the article.
[2] and research [3, 4]. Though robots are designed to fare well in specific tasks, the designs suffers from common limitations such as lack of adaptability as per real-time demands, application specific nature, and longer design times. Different approaches are being considered for designing the robots to increase the adaptability, ease of assembly and repair, cost of production, and more importantly the autonomous nature of the designs. Modular robotics [5] is one such approach in which multiple homogeneous/heterogeneous robot modules are assembled as per the real-time demands of the applica
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