Notes

Outline

Comparing the Locomotion Dynamics of a Cockroach and a Shape Deposition Manufactured Biomimetic Robot

Overview Introduction Shape Deposition Manufacturing Robot Design Locomotion Dynamics Conclusions

Introduction Motivation Small Fast Robust Integrated approach Biomimetic structures Biologically-inspired control

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Biological Example Death-head cockroach Blaberus discoidalis Fast Speeds of up to 10 body/s Rough terrain Can easily traverse fractal terrain of obstacles 3X hip height

Biological Inspiration Control heirarchy Passive component Active component

Robot Design

Sprawlita Mass - .27 kg Dimensions - 16x10x9 cm Leg length - 4.5 cm Max. Speed - 55 cm/s    3+ body/sec Hip height obstacle traversal

Movie Superficially insect-like Stable running Obstacle traversal

Whole Body Dynamics Force plate High speed video

Animal Running - the SLIP model

Whole Body Ground Reaction Forces

Individual leg forces Sprawlita drags middle and rear foot Individual legs have functions dissimilar from cockroach legs More questions Relative contact time

Summary and Conclusions

Future Work Sprawley Davidson Leg extensions The Sprawlettes High level, not real-time sensor-based control

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