• Autonomous decision making in a bioinspired adaptive robotic anchoring module

Sadeghian, Rasoul, Sareh, Pooya, Shahin, Shahrooz and Sareh, Sina, 2021, Conference or Workshop, Autonomous decision making in a bioinspired adaptive robotic anchoring module at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 27 Sep - 01 Oct 2021.

Abstract or Description:

This paper proposes a bioinspired adaptive anchoring module that can be integrated into robots to enhance their mobility and manipulation abilities. The design of the module is inspired by the structure of the mouth in Chilean lamprey (Mordacia lapicida) where a combination of suction and several arrays of teeth with different sizes around the mouth opening is used for catching preys and anchoring onto them. The module can deploy a suitable mode of attachment, via teeth or vacuum suction, to different contact surfaces in response to the textural properties of those surfaces. In order to make a decision on the suitable mode of attachment, an original dataset of 500 images of outdoor and indoor surfaces was used to train a visual surface examination model using YOLOv3; a virtually real-time object detection algorithm. The mean average precision of the trained model was calculated to be 91%. We have conducted a series of pull-out tests to characterize the module’s strength of attachments. The results of the experiments indicate that the anchoring module can withstand an applied detachment force of up to 70N and 30N when attached using teeth and vacuum suction, respectively.

Official URL: https://ieeexplore.ieee.org/document/9636378
Subjects: Other > Engineering > H600 Electronic and Electrical Engineering
Other > Engineering > H900 Others in Engineering > H990 Engineering not elsewhere classified
School or Centre: Research & Innovation
School of Design
Funders: EPSRC-UKRI Fellowship (EP/S001840/1)
Identification Number or DOI: https://doi.org/10.1109/IROS51168.2021.9636378
Uncontrolled Keywords: Visualization; Vacuum systems; Force; Teeth; Object detection; Real-time systems; Surface texture; Biologically-Inspired Robots
Date Deposited: 17 Sep 2021 10:23
Last Modified: 16 Jun 2022 08:38
URI: https://researchonline.rca.ac.uk/id/eprint/4865
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