Nimble Limbs - Intelligent attachable legs to create walking robots from variously shaped objects

摘要

Biology has always been a major inspiration for our walking robots. We try to capture what basic ideas can be applied to improve robotic performance, be it biomechanics for organic structural design to make sturdier robots or the complexity of neural networks to achieve new levels of intelligence. This, of course, comes with the price. The design of legged robots, being one of the most influenced parts is widely dominated by monolithic systems. In some rare cases will they exhibit the capability to exchange modular body parts. And still, the body itself remains a crucial part of its topology. This paper will present a concept to rethink embodied robots by transferring all hardware and software components into its legs. These nimble limbs can be applied to any object that needs transporting, be it a parcel, a shopping basket or furniture. The paper will present the advantages of these intelligent legs compared to other systems and point out the major issues as well as possible solutions on how to realize such a disembodied robot.