Modeling and Experimental Validation of the Mechanics of a Wheeled Non-Holonomic Robot Capable of Enabling Homeostasis

TL;DR

This paper models and experimentally validates a wheeled non-holonomic robot capable of maintaining internal homeostasis, inspired by biological systems, with potential applications in autonomous repair and environmental regulation.

Contribution

It introduces a novel robot design with an internal structure and membrane that enable homeostasis, combining bio-inspired concepts with mechanical modeling and experimental validation.

Findings

Successful modeling of the robot's mechanics.

Experimental validation of homeostasis capabilities.

Feasibility of using homeostasis-enabled wheels for locomotion.

Abstract

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.