Section II, A, 1.3.2: Active and passive actuation of bio-inspired locomotory systems
Abstract
The objectives of the proposed research are to (1) develop quantitative measures of maneuverability in model systems of bio-inspired locomotion, and (2) devise a novel mathematical framework that incorporates combinations of active and passive shape actuation in model systems of bio-inspired locomotion. The PI will meet these objectives by formulating a hierarchy of mathematical and experimental models that draw on techniques developed in the context of geometric mechanics, dynamical systems, control theory, fluid-structure interactions and numerical analysis. The PI will develop quantitative metrics for assessing maneuverability by re-examining existing indices for terrestrial turning for initial insight that will be generalized to a phase-space description. These will be examined in three model systems with common features: (i) slow limb movement, (ii) undulatory locomotion, and (iii) flying, hovering and gliding. Current control strategies of bio-inspired robots are designed to either "override" the system s dynamics or to cooperate with the underlying dynamics to achieve the desired outcome. The PI s hypothesis is that biological systems belong to the second category, and so should bio-inspired robotic systems. The first control approach is inherently less efficient and less versatile. Therefore, an essential component of the PI s approach is to understand the passive dynamics of locomotory systems in order to assess the amount of actuation necessary for effective motion planning that meet the requirements on stability and maneuverability. Another essential component of the PI s approach is to break up of configuration coordinates into active and passive elements, to examine their dynamic interplay in all three model systems and to develop design principles that dictate which actuation elements need to be active to achieve a desired locomotory task.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 12, 2017
- Source ID
- W911NF1610074
Entities
People
- Eva Kanso
Organizations
- Army Contracting Command
- United States Army
- University of Southern California