b. Engineering Sciences i. Mechanical Sciences (3) Complex Systems and Dynamics "W911NF-17-S-0002: 3D Saltatorial Locomotion on Compliant Terrain"
Abstract
Year 1: Find models and experimental bounds for how 3D jumping on fixed piecewise planar surfaces with compliance is limited by robot performance. Begin by testing fox squirrels using ricochetal saltation on fixed piecewise planar surfaces with compliance. Determine the strategies and performance limits by measuring both the 3D kinematics and ground reaction force. Year 2: Determine strategies and control limits for recovering from unexpected disturbances due to sliding and compliance which are outside the bounds found in Year 1. Determine strategies and control limits for fox squirrels recovering from unexpected disturbances due to sliding and compliance. Begin careful examination of foot function. Begin to explore alternative animal models such as chinchillas or jerboas. Year 3: Understand how to transition between quasistatic and dynamic motions as needed for complex terrain or recovery from disturbances. Year 4 (Aug. 2022 to June 5, 2023): Refine evaluation of trade-offs between force and torque for balanced landing in both squirrel and Salto, as well as sources of uncertainty in landings. Prototype new squirrel-inspired robotic feet designs. Integrate work from years 1-3.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 08, 2024
- Accession Number
- AD1229523
Entities
People
- Ronald Faering
Organizations
- University of California, Berkeley