Dynamical templates for sub-milligram legged locomotion
Abstract
Development of dynamic and agile legged robots has benefitted from the study of biological systems and the identification of low-dimensional dynamical templates. Center-of-mass (COM) dynamics of many running organisms across 5-orders of magnitude in mass exhibit similar bouncy COM behavior consistent with a spring-loaded inverted pendulum (SLIP). However, we have very little understanding whether SLIP running dynamics are employed by low-mass runners such as small arthropods. This STIR will initiate funding towards identification of the dynamics of low-mass legged locomotion in biological and microrobotic systems. This STIR will fund development of a high-bandwidth micro-newton force sensor to measure the instantaneous ground reaction forces during high speed running of milligram and sub-milligram legged insects. We will use this force sensor coupled with a high-speed and multiple view imaging system to identify the running dynamics and kinematics of Argentine ant workers common to Southern California. Informed understanding of low-mass legged locomotion from this STIR will enable follow-up design and development of milligram scale legged microrobots that will be supported by PI Gravish. It is understood that any developmental items and specially designed parts, components, accessories and attachments fabricated under any Department of Defense award resulting from this proposal are being developed for civil and potential military applications. Publically releasable.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 11, 2018
- Source ID
- W911NF1710145
Entities
People
- Nicholas Gravish
Organizations
- Army Contracting Command
- United States Army
- University of California, San Diego