Salamander Foot Design. Midterm semester project presentation. Laura Paez

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Transcription:

Salamander Foot Design Midterm semester project presentation Laura Paez

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

Animal Aquatic Stepping

Pleurobot Aquatic Stepping

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

Previous works on design leg Reconstruct Leg Kinematics Student: Reza Safai Student: Patrick Shwizer

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

Purpose Develop a methodology for generic foot design, design in sprawling posture undulatory-spine-based robots.

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

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

Biological classification (sprawling posture) Investigate systematically inside animal taxonomy

Biological classification (sprawling posture) Representative animals

Biological classification (sprawling posture)

Biological classification (sprawling posture)

Biological classification (sprawling posture)

Biological classification (sprawling posture)

Biological classification (sprawling posture) Animals with similar locomotion characteristics: Length Mass Speed

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

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. 768 782, 2014

Pisa/IIT SoftHand The joint can withstand severe disarticulations and violent impacts

Finger Design

Outline Motivation Previous work Purpose Design methodology (Niches in Taxonomy) Hardware design concept Future work Questions

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

References 1. Reilly, S. M. and J. A. Elias. 1998. Locomotion in Alligator mississippiensis: kinematic effects of speed and posture and their relevance to the sprawling-to-erect paradigm. Journal of Experimental Biology 201:2559 2574. 2. http://a-z-animals.com/animals/dwarf-crocodile/ 3-7. Irschick DJ, Jayne BC. 1999. Comparative three-dimensional kinematics of the hindlimb for high-speed bipedal and quadrupedal locomotion of lizards. Journal of Experimental Biology. 202:1047-1065. 6. 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. 609 622, 1998 8. 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, 265 273 (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 207.3 (2004): 399-410.

References 10. http://www.acecoinage.com/japanesegiantsalamander.html 11. ASHLEY-ROSS,M. A. (1994a). Hindlimb kinematics during terrestriallocomotion in a salamander (Dicamptodon tenebrosus). J. exp.biol.193, 255 283. 11. ASHLEY-ROSS, M. A. (1994b). Metamorphic and speed effects on hindlimb kinematics during terrestrial locomotion in the salamander Dicamptodon tenebrosus. J.exp. Biol. 193, 285 305 12. Chevallier, S., M. Landry, F. Nagy and J.M. Cabelguen, 2004. Recovery of bimodal locomotion in the spinal-transected salamander, Pleurodeles waltlii. Eur. J. Neurosci., 20: 1995-2007. DOI: 10.1111/j.1460-9568.2004.03671.x 13. Sheffield KM, Blob RW. Loading mechanics of the femur in tiger salamanders (Ambystoma tigrinum) during terrestrial locomotion. J Exp Biol 2011;214:2609-15. 13. http://a-z-animals.com/animals/tiger-salamander/

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