Comparing the Locomotion
Dynamics of a Cockroach and a Shape Deposition Manufactured Biomimetic Robot
Overview
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Introduction |
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Shape Deposition Manufacturing |
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Robot Design |
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Locomotion Dynamics |
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Conclusions |
Introduction
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Motivation |
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Small |
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Fast |
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Robust |
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Integrated approach |
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Biomimetic structures |
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Biologically-inspired control |
Slide 4
Slide 5
Biological Example
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Death-head cockroach Blaberus
discoidalis |
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Fast |
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Speeds of up to 10 body/s |
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Rough terrain |
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Can easily traverse fractal terrain of
obstacles 3X hip height |
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Biological Inspiration
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Control heirarchy |
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Passive component |
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Active component |
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Robot Design
Sprawlita
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Mass - .27 kg |
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Dimensions - 16x10x9 cm |
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Leg length - 4.5 cm |
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Max. Speed - 55 cm/s
3+ body/sec |
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Hip height obstacle traversal |
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Movie
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Superficially insect-like |
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Stable running |
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Obstacle traversal |
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Whole Body Dynamics
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Force plate |
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High speed video |
Animal Running - the SLIP
model
Whole Body Ground
Reaction Forces
Individual leg forces
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Sprawlita drags middle and rear foot |
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Individual legs have
functions dissimilar
from cockroach legs |
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More questions |
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Relative contact time |
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Summary and Conclusions
Future Work
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Sprawley Davidson |
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Leg extensions |
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The Sprawlettes |
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High level, not real-time
sensor-based control |
Slide 17