Salamander Foot Design. Midterm semester project presentation. Laura Paez
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1 Salamander Foot Design Midterm semester project presentation Laura Paez
2 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
3 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
4 Animal Aquatic Stepping
5 Pleurobot Aquatic Stepping
6 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
7 Previous works on design leg Reconstruct Leg Kinematics Student: Reza Safai Student: Patrick Shwizer
8
9 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
10 Purpose Develop a methodology for generic foot design, design in sprawling posture undulatory-spine-based robots.
11 Project components Develop a methodology for generic foot design, design in sprawling posture undulatory-spine-based robots. Design methodology (Niches in Taxonomy) Hardware design concept Experimentation, analysis and conclusions
12 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
13 Biological classification (sprawling posture) Investigate systematically inside animal taxonomy
14 Biological classification (sprawling posture) Representative animals
15 Biological classification (sprawling posture)
16 Biological classification (sprawling posture)
17 Biological classification (sprawling posture)
18 Biological classification (sprawling posture)
19 Biological classification (sprawling posture) Animals with similar locomotion characteristics: Length Mass Speed
20 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
21 Hillberry joint Pair of cylinders in rolling contact on each other Adapted Low friction and abrasive wear. Elastic ligaments M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Piazza, C., and Bicchi, A., Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand, International Journal of Robotics Research, vol. 33, no. 5, pp , 2014
22 Pisa/IIT SoftHand The joint can withstand severe disarticulations and violent impacts
23 Finger Design
24 Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions
25 Project components Develop a methodology for generic foot design, design in sprawling posture undulatory-spine-based robots. Hardware Design methodology (Niches in Taxonomy) design concept Experimentation, analysis and conclusions Ground Reaction forces
26 References 1. Reilly, S. M. and J. A. Elias Locomotion in Alligator mississippiensis: kinematic effects of speed and posture and their relevance to the sprawling-to-erect paradigm. Journal of Experimental Biology 201: Irschick DJ, Jayne BC Comparative three-dimensional kinematics of the hindlimb for high-speed bipedal and quadrupedal locomotion of lizards. Journal of Experimental Biology. 202: C. L. Fieler and B. C. Jayne, Effects of speed on the hindlimb kinematics of the lizard Dipsosaurus dorsalis, Journal of Experimental Biology, vol. 201, no. 4, pp , Clemente, C. J., Withers, P. C. & Thompson, G. G. Optimal body size with respect to maximal speed for the yellow-spotted monitor lizard (Varanus panoptes; Varanidae). Physiol. Biochem. Zool. 85, (2012). 9. Ahn, Anna N., E. Furrow, and Andrew A. Biewener. Walking and running in the redlegged running frog, Kassina maculata. Journal of Experimental Biology (2004):
27 References ASHLEY-ROSS,M. A. (1994a). Hindlimb kinematics during terrestriallocomotion in a salamander (Dicamptodon tenebrosus). J. exp.biol.193, ASHLEY-ROSS, M. A. (1994b). Metamorphic and speed effects on hindlimb kinematics during terrestrial locomotion in the salamander Dicamptodon tenebrosus. J.exp. Biol. 193, Chevallier, S., M. Landry, F. Nagy and J.M. Cabelguen, Recovery of bimodal locomotion in the spinal-transected salamander, Pleurodeles waltlii. Eur. J. Neurosci., 20: DOI: /j x 13. Sheffield KM, Blob RW. Loading mechanics of the femur in tiger salamanders (Ambystoma tigrinum) during terrestrial locomotion. J Exp Biol 2011;214:
28 Questions?
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