Rapidly running arthropods like cockroaches make use of passive dynamics to achieve remarkable locomotion performance with regard to stability, speed, and maneuverability. In this work, we take inspiration from these organisms to design, fabricate, and control a 10cm, 24 gram underactuated hexapedal robot capable of running at 14 body lengths per second and performing dynamic turning maneuvers. Our design relies on parallel kinematic mechanisms fabricated using the scaled smart composite microstructures (SCM) process and viscoelastic polymer legs with tunable stiffness. In addition to the novel robot design, we present experimental validation of the lateral leg spring (LLS) locomotion model’s prediction that dynamic turning can be achieved by modulating leg stiffness. Finally, we present and validate a leg design for active stiffness control using shape memory alloy and demonstrate the ability of the robot to execute near-gymnastic 90° turns in the span of five strides.
Learn about our two Decals!
Click here to find out more about our Fall Bioinspired Design Decal and our Spring Bioinspired Design in Action Decal – ALL MAJORS are welcome.Berkeley BioDesign Community
Click here to learn about the BioD: Bio-Inspired Design @ Berkeley student organization or here to signup for more info.
I imagine that the neurological circuits underlying these processes are governed by both 2d spacing maps with their brains as…
to reduce the impact of car accidents, it may be possible to study the force diverting physics of cockroaches to…
you see this type of head-bobbing stability in many avian creatures related to pigeons like chickens. the head ability to…
not like they taught horses how to run! this is an example of convergent evolution where both sea creatures and…
The brain functions in a similar way with neuronal connections. our brains are able to utilize the multiplicity of connections…