comparing the locomotion dynamics of a cockroach and a shape deposition manufactured biomimetic...
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![Page 1: Comparing the Locomotion Dynamics of a Cockroach and a Shape Deposition Manufactured Biomimetic Robot Sean A. Bailey, Jorge G. Cham, Mark R. Cutkosky Biomimetic](https://reader038.vdocuments.us/reader038/viewer/2022110323/56649d7d5503460f94a603dc/html5/thumbnails/1.jpg)
Comparing the Locomotion Dynamics of a Cockroach and a Shape Deposition Manufactured Biomimetic Robot
Sean A. Bailey, Jorge G. Cham, Mark R. CutkoskyBiomimetic Robotics Lab
Stanford University
December 12, 2000
Robert J. FullPolyPedal Laboratory
University of California at Berkeley
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Intro SDM Design Dynamics Conclusions
Overview• Introduction
• Shape Deposition Manufacturing
• Robot Design
• Locomotion Dynamics
• Conclusions
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Intro SDM Design Dynamics Conclusions
Introduction
• Motivation– Small– Fast– Robust
• Integrated approach– Biomimetic structures– Biologically-inspired control
De-mining in an unstructured environment
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Intro SDM Design Dynamics Conclusions
Prototype Limb with Embedded Pneumatic Actuator, Sensor, Leaf Spring and Valves
Leaf-spring
Piston
Pressure Sensor
Fitting
Inlet Valve
Exhaust Valve
Shape Deposition Manufacturing (SDM)
Manufacturing
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Intro SDM Design Dynamics Conclusions
• Arbitrary geometries
• Embedded components
• No fasteners
• Multi-materials
• Tailored compliance
Shape Deposition Manufacturing (SDM)
Graded, multi-material 5-bar
Multi-material partw/ embedded components
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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
Intro SDM Design Dynamics Conclusions
Blaberus discoidalis running over fractal terrain
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Intro SDM Design Dynamics Conclusions
Biological Inspiration• Control heirarchy
– Passive component
– Active component
Full and Koditschek, 1999
MechanicalSystem
(muscles, limbs)
Environment
MechanicalFeedback(Preflexes)
SensoryFeedback(Reflexes)
Neural System(CPG)
FeedforwardMotor Pattern
Passive DynamicSelf-Stabilization
Locomotion
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Intro SDM Design Dynamics Conclusions
Cockroach Geometry
•Passive Compliant Hip Joint•Effective Thrusting Force
Functional Biomimesis
•Damped, Compliant Hip Flexure•Embedded Air Piston
Robot Implementation
Robot Design
•Rotary Joint•Prismatic Joint
Cham et al., 2000, Clark et al., 2001
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Intro SDM Design Dynamics Conclusions
Sprawlita• Mass - .27 kg
• Dimensions - 16x10x9 cm
• Leg length - 4.5 cm
• Max. Speed - 55 cm/s 3+ body/sec
• Hip height obstacle traversal
Legs with CompliantFlexures
Actuators andwiring embeddedinside structure
2.5 cm
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Intro SDM Design Dynamics Conclusions
Movie
• Superficially insect-like
• Stable running
• Obstacle traversal
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Whole Body Dynamics• Force plate
• High speed video
Intro SDM Design Dynamics Conclusions
High-speed Footage with Markers
Force Plate Data
450 550 650 750-5
0
5
10
15
Time (ms)
For
ce (
N)
filtered vertical force unfiltered horizontal force
LocomotionDirection
Force plate
Highspeed videomarkers
Highspeed videomarkers
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Animal Running - the SLIP model
Intro SDM Design Dynamics Conclusions
Human
TWO-Legged
Cockroach Crab
LeggedEIGHT-
Dog
LeggedFOUR-VerticalForce
BodyWeight
ForceTime
Fore-aft
Blickhan 1989
SIX-Legged
Spring-LoadedInverted Pendulum
SLIP
Cavagna et al., 1975
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Time
Intro SDM Design Dynamics Conclusions
Whole Body Ground Reaction Forces
0.015
0.02
0.025
-.004
0
.004
20 40 60 80
2
4
6
-2
0
2
0 50 100
Spring-LoadedInverted Pendulum
(SLIP)
Vertical Force
Fore-aft Force
Blaberusdiscoidalis
Sprawlita
Time (ms) Time (ms)
Decelerate Accelerate Decelerate Accelerate DecelerateAccelerate
Dragging
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Individual leg forces• Sprawlita drags middle and rear foot
• Individual legs have functions dissimilar from cockroach legs
• More questions– Relative contact time
Intro SDM Design Dynamics Conclusions
ms
mN
0-6
140
0
12
0 60 140-6
0
10
0-6
140
0
10
0 50-2
0
4
0 50-2
0
4
0 20 50-2
0
4
ms
N
Front Leg Middle Leg Hind Leg
filtered vertical force filtered horizontal force
Dragging
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Intro SDM Design Dynamics Conclusions
• Sprawlita– Physically robust
– Operationally robust
– Open loop
• Comparing locomotion dynamics suggests design improvements– Foot drag - longer stroke
• If more SLIP-like...• faster?
• more efficient?
• more robust?
Summary and Conclusions
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Intro SDM Design Dynamics Conclusions
Future Work• Sprawley Davidson
• Leg extensions
• The Sprawlettes
• High level, not real-time sensor-based control
MechanicalSystem
(muscles, limbs)
Environment
MechanicalFeedback(Preflexes)
SensoryFeedback(Reflexes)
Neural System(CPG)
FeedforwardMotor Pattern
Passive DynamicSelf-Stabilization
LocomotionDouble piston extension SDM linkage extension
Prototype with close proximity valve and cylinder
Valve
Cylinder
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Intro SDM Design Dynamics Conclusions
Acknowledgements• Stanford
– Center for Design Research
– Dexterous Manipulation Lab
– Rapid Prototyping Lab
• Berkeley– PolyPedal Lab
• Sponsors– Office of Naval Research
– National Science Foundation