Abstract: If robots are to become ubiquitous, they will need to be able to adapt to
complex and dynamic environments. Robots that can adapt their bodies while
deployed might be flexible and robust enough to meet this challenge. Previous
work on dynamic robot morphology has focused on simulation, combining simple
modules, or switching between locomotion modes. Here, we present an alternative
approach: a self-reconfigurable morphology that allows a single four-legged
robot to actively adapt the length of its legs to different environments. We
report the design of our robot, as well as the results of a study that verifies
the performance impact of self-reconfiguration. This study compares three
different control and morphology pairs under different levels of servo supply
voltage in the lab. We also performed preliminary tests in different
uncontrolled outdoor environments to see if changes to the external environment
supports our findings in the lab. Our results show better performance with an
adaptable body, lending evidence to the value of self-reconfiguration for
quadruped robots.
Authors: Tønnes F. Nygaard, Charles P. Martin, Jim Torresen, Kyrre Glette (University of Oslo)
