Toward Autonomy in Sub-Gram Terrestrial Robots
| Autor: | Sarah Bergbreiter, Ryan St. Pierre |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science media_common.quotation_subject Mobile robot 02 engineering and technology 021001 nanoscience & nanotechnology Computer security computer.software_genre Jet engine law.invention 020901 industrial engineering & automation law Automotive Engineering Robot Biomimetics 0210 nano-technology computer Civil infrastructure Autonomy media_common |
| Zdroj: | Annual Review of Control, Robotics, and Autonomous Systems. 2:231-252 |
| ISSN: | 2573-5144 |
| Popis: | Research toward small, autonomous, and mobile robots is inspired by both the insects we see around us and numerous applications, from inspection of jet engines and civil infrastructure to medical procedures. When comparing existing robots at small scales with their biological counterparts, the capability for autonomous operation is a glaring contrast. This review describes the state of the art in robotics at sub-gram scales along with the progress toward autonomy in power, mobility, and control at these small sizes. Metrics are described to both quantify the performance of existing sub-gram robots (e.g., speed and cost of transport) and define a more quantitative path toward autonomy (e.g., mass-specific run time and traversal probability). These metrics from existing robots are also compared with those of insects to identify significant performance gaps and highlight important areas for future study. |
| Databáze: | OpenAIRE |
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