Towards bio-transcending legged robots: Design and development of novel robotic platforms for enhanced locomotion

This dissertation explores the concept of bio-transcending robots through the development of novel legged robotic hardware platforms. These robots are inspired by biological organisms in their design, structure, and functionality, while also incorporating artificial mechanisms to enhance their capabilities. The fusion of bio-inspired principles with artificial mechanisms, achievable only in mechanical systems, enables these legged robots to overcome inherent biological limitations and achieve functionalities unattainable within the natural world. The work also presents a rapid development process for the bio-transcending legged robots, encompassing efficient design, fabrication, and software system development. Three bio-transcending legged robots have been developed, and this paper presents their design process and software implementation in detail. The dissertation showcases the Snapbot V2, a reconfigurable modular legged robot that exhibits fail-safe locomotion, a large-scale biped robot utilizing a novel Serial-Parallel Hybrid Leg mechanism, and the Ringbot, a versatile monocycle robot with legs for hybrid locomotion. These platforms exemplify the bio-transcending concept, demonstrating the potential for enhanced adaptability and performance beyond the capabilities of biological organisms. The contributions of this research lie in establishing the concept of bio-transcending legged robots, introducing an efficient development process, and showcasing the practical realization of bio-transcending designs in the form of the presented platforms.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2023

Author dc:creator

• Gim, Kevin Genehyub

Contributors dc:contributor

• Kim, Joohyung
• Ramos, Joao
• Hsiao-Wecksler, Elizabeth T
• Dullerud, Geir E

• Biotranscending Robot
• Legged Robot
• Modular Robot
• Biped Robot
• Wheel-leg Hybrid Robot
• Mechanism Design

Statement dc:rights

• Copyright 2023 Kevin Genehyub Gim

Language dc:language

en, eng

Handle dc:identifier

https://hdl.handle.net/2142/122210

OAI record oai:identifier

https://www.ideals.illinois.edu/oai-pmh?verb=GetRecord&metadataPrefix=etdms&identifier=oai%3Awww.ideals.illinois.edu%3A2142%2F122210