1 research outputs found
Modeling and Experimental Validation of the Mechanics of a Wheeled Non-Holonomic Robot Capable of Enabling Homeostasis
The field of bio-inspired robotics seeks to create mechanical systems that
mimic the designs and concepts used by biological systems. One of the more
challenging biological concepts to imitate in mechanical systems is the ability
to create an internal environment that can foster homeostasis through the use
of a membrane similar to skin. A robot with this ability would be able to
regulate internal parameters, repair itself using the internal sub-environment,
and defend its internal parts from the surrounding environment. This paper
presents the internal structure of a non-holonomic wheeled system that enables
homeostasis via a fully connected interior, protected from the outside
environment by a flexible membrane. The three objectives of this paper are to:
1) Explore the idea of nature creating higher-order life forms with wheeled
limbs given the correct intermediate steps. 2) Characterize a robot that uses a
homeostasis enabling wheel. 3) Determine the feasibility of using a homeostasis
enabling wheel as a mode of locomotion