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Design and analysis of some nonanthropomorphic, biologically inspired robots: An overview

In this paper, two kinds of biologically inspired robots under investigation at Johns Hopkins University are reviewed. While these designs are reminiscent of designs in nature, they are, however, not anthropomorphic. Rather, they are zoomorphic in macroscopic structure. These two kinds of robots are snakelike “hyper-redundant” manipulators, and amoeboid “metamorphic” robots. In addition to issues in the design of the robots, issues in the dynamics and motion planning of these devices are reviewed. © 2001 John Wiley & Sons, Inc.