{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/122210"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/122210","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Towards bio-transcending legged robots: Design and development of novel robotic platforms for enhanced locomotion","abstract":"Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-12-01","abstract_html":"Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-12-01","abstract_has_math":false,"creators":["Gim, Kevin Genehyub"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Kim, Joohyung","Ramos, Joao","Hsiao-Wecksler, Elizabeth T","Dullerud, Geir E"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2023,"date_issued":"2023-12","date_published":"2023-12","updated_at":"2026-07-22T22:25:00Z","subjects":["Biotranscending Robot","Legged Robot","Modular Robot","Biped Robot","Wheel-leg Hybrid Robot","Mechanism Design"],"languages":["en","eng"],"rights":["Copyright 2023 Kevin Genehyub Gim"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/122210","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kim, Joohyung","Ramos, Joao","Hsiao-Wecksler, Elizabeth T","Dullerud, Geir E"]},{"key":"dc:creator","label":"Author","values":["Gim, Kevin Genehyub"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2023-12","2023-11-29"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Biotranscending Robot","Legged Robot","Modular Robot","Biped Robot","Wheel-leg Hybrid Robot","Mechanism Design"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2023 Kevin Genehyub Gim"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/122210"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-12-01","The student, Kevin Gim, accepted the attached license on 2023-11-28 at 23:18.","The student, Kevin Gim, submitted this Dissertation for approval on 2023-11-28 at 23:21.","This Dissertation was approved for publication on 2023-11-29 at 17:00.","DSpace SAF Submission Ingestion Package generated from Vireo submission #19879 on 2024-03-01 at 13:48:00","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Towards bio-transcending legged robots: Design and development of novel robotic platforms for enhanced locomotion"]}]}],"canonical_facts":{"dc:contributor":["Kim, Joohyung","Ramos, Joao","Hsiao-Wecksler, Elizabeth T","Dullerud, Geir E"],"dc:creator":["Gim, Kevin Genehyub"],"dc:date":["2023-12","2023-11-29"],"dc:description":["Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-12-01","The student, Kevin Gim, accepted the attached license on 2023-11-28 at 23:18.","The student, Kevin Gim, submitted this Dissertation for approval on 2023-11-28 at 23:21.","This Dissertation was approved for publication on 2023-11-29 at 17:00.","DSpace SAF Submission Ingestion Package generated from Vireo submission #19879 on 2024-03-01 at 13:48:00","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."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/122210"],"dc:language":["en","eng"],"dc:rights":["Copyright 2023 Kevin Genehyub Gim"],"dc:subject":["Biotranscending Robot","Legged Robot","Modular Robot","Biped Robot","Wheel-leg Hybrid Robot","Mechanism Design"],"dc:title":["Towards bio-transcending legged robots: Design and development of novel robotic platforms for enhanced locomotion"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:00Z"}