Morphological adaptation in an energy efficient vibration-based robot

Shiv Katiyar; Ghopy Kandasamy; Eranda Kulatunga; Md Mustafizur; Fumiya Iida; Surya G. Nurzaman

doi:10.1109/ICRA.2018.8461107

Morphological adaptation in an energy efficient vibration-based robot

Shiv Katiyar, Ghopy Kandasamy, Eranda Kulatunga, Md Mustafizur, Fumiya Iida, Surya G. Nurzaman

Malaysia Sch of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

1 Citation (Scopus)

Abstract

Morphological computation is a concept relevant to robots made of soft and elastic materials. It states that robot's rich dynamics can be exploited to generate desirable behaviors, which can be altered when their morphology is adapted accordingly. This paper presents a low-cost robot made of elastic curved beam driven by a motor, with morphological computation and adaptation ability. Simply by changing robot's shape and the rotating frequency of the motor that vibrates the robot's body, the robot is able to shift its behavior from showing a tendency to slide when it needs to perform tasks like going under confined space, to have more tendency to hop diagonally forward when the robot stands upright. It will also be shown that based on the proposed mechanism, the energy efficiency of the robot locomotion can be maximized.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1575-1582
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8461107
Publication status	Published - 10 Sep 2018
Event	IEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018 https://icra2018.org/ (Website) https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	IEEE International Conference on Robotics and Automation 2018
Abbreviated title	ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18
Internet address	https://icra2018.org/ (Website) https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ICRA.2018.8461107

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Katiyar, S., Kandasamy, G., Kulatunga, E., Mustafizur, M., Iida, F., & Nurzaman, S. G. (2018). Morphological adaptation in an energy efficient vibration-based robot. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 1575-1582). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2018.8461107

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title = "Morphological adaptation in an energy efficient vibration-based robot",

abstract = "Morphological computation is a concept relevant to robots made of soft and elastic materials. It states that robot's rich dynamics can be exploited to generate desirable behaviors, which can be altered when their morphology is adapted accordingly. This paper presents a low-cost robot made of elastic curved beam driven by a motor, with morphological computation and adaptation ability. Simply by changing robot's shape and the rotating frequency of the motor that vibrates the robot's body, the robot is able to shift its behavior from showing a tendency to slide when it needs to perform tasks like going under confined space, to have more tendency to hop diagonally forward when the robot stands upright. It will also be shown that based on the proposed mechanism, the energy efficiency of the robot locomotion can be maximized.",

author = "Shiv Katiyar and Ghopy Kandasamy and Eranda Kulatunga and Md Mustafizur and Fumiya Iida and Nurzaman, {Surya G.}",

note = "Funding Information: The authors would like to thank Maninda Andradi for helping in developing basic structure of the IUCBR and Sheng Hong Cuwa for his assistance in data collection. Shiv Katiyar is supported by Merit Scholarship Monash University Malaysia. The authors acknowledge the support of the FRGS Grant (Project no: FRGS/1/2017/ICT02/MUSM/03/3) provided by the Ministry of Higher Education (MOHE), Malaysia, and the School of Engineering Seed Funding (2016), Monash University Malaysia. Publisher Copyright: {\textcopyright} 2018 IEEE. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.; IEEE International Conference on Robotics and Automation 2018, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

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doi = "10.1109/ICRA.2018.8461107",

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Katiyar, S, Kandasamy, G, Kulatunga, E, Mustafizur, M, Iida, F & Nurzaman, SG 2018, Morphological adaptation in an energy efficient vibration-based robot. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, Institute of Electrical and Electronics Engineers, pp. 1575-1582, IEEE International Conference on Robotics and Automation 2018, Brisbane, Queensland, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8461107

Morphological adaptation in an energy efficient vibration-based robot. / Katiyar, Shiv; Kandasamy, Ghopy; Kulatunga, Eranda et al.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, Institute of Electrical and Electronics Engineers, 2018. p. 1575-1582 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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AU - Mustafizur, Md

AU - Iida, Fumiya

AU - Nurzaman, Surya G.

N1 - Funding Information: The authors would like to thank Maninda Andradi for helping in developing basic structure of the IUCBR and Sheng Hong Cuwa for his assistance in data collection. Shiv Katiyar is supported by Merit Scholarship Monash University Malaysia. The authors acknowledge the support of the FRGS Grant (Project no: FRGS/1/2017/ICT02/MUSM/03/3) provided by the Ministry of Higher Education (MOHE), Malaysia, and the School of Engineering Seed Funding (2016), Monash University Malaysia. Publisher Copyright: © 2018 IEEE. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.

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Y1 - 2018/9/10

N2 - Morphological computation is a concept relevant to robots made of soft and elastic materials. It states that robot's rich dynamics can be exploited to generate desirable behaviors, which can be altered when their morphology is adapted accordingly. This paper presents a low-cost robot made of elastic curved beam driven by a motor, with morphological computation and adaptation ability. Simply by changing robot's shape and the rotating frequency of the motor that vibrates the robot's body, the robot is able to shift its behavior from showing a tendency to slide when it needs to perform tasks like going under confined space, to have more tendency to hop diagonally forward when the robot stands upright. It will also be shown that based on the proposed mechanism, the energy efficiency of the robot locomotion can be maximized.

AB - Morphological computation is a concept relevant to robots made of soft and elastic materials. It states that robot's rich dynamics can be exploited to generate desirable behaviors, which can be altered when their morphology is adapted accordingly. This paper presents a low-cost robot made of elastic curved beam driven by a motor, with morphological computation and adaptation ability. Simply by changing robot's shape and the rotating frequency of the motor that vibrates the robot's body, the robot is able to shift its behavior from showing a tendency to slide when it needs to perform tasks like going under confined space, to have more tendency to hop diagonally forward when the robot stands upright. It will also be shown that based on the proposed mechanism, the energy efficiency of the robot locomotion can be maximized.

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M3 - Conference Paper

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Y2 - 21 May 2018 through 25 May 2018

ER -

Katiyar S, Kandasamy G, Kulatunga E, Mustafizur M, Iida F, Nurzaman SG. Morphological adaptation in an energy efficient vibration-based robot. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, Institute of Electrical and Electronics Engineers. 2018. p. 1575-1582. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8461107

Morphological adaptation in an energy efficient vibration-based robot

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