b. Engineering Sciences i. Mechanical Sciences (3) Complex Systems and Dynamics "W911NF-17-S-0002: 3D Saltatorial Locomotion on Compliant Terrain"
Abstract
Principles of legged robots are becoming well understood for robust locomotion on rigid, flat, relatively low-slope surfaces. However, locomotion in arboreal environments or irregular high-slope terrain, is relatively unexplored. Saltatorial locomotion, with continuous high acceleration jumps, allows traversing gaps as well as acceleration off of high-slope surfaces. The main focus of this proposed research is to understand how to robustly use saltatorial locomotion on challenging surfaces which can have high compliance, high slope, and irregular features. We expect that saltatorial locomotion models for these environments will require high acceleration and dynamic range, combined with appropriate structures and new control strategies to achieve some of the robust 3D performance on complicated terrain demonstrated by saltatorial animals. These models will be verified both through simulation and with real hardware. The experimental part of this research is enabled by the Saito robot. Saito is capable of repeated jumps in the saggital plane with a vertical jumping agility of 1.7 m/sec, which is 78% of the animal with the highest vertical jumping agility, the galago. The ability to rapidly traverse an arboreal canopy or high slope irregular terrain with a small mobile robot could enhance future Army Intelligence /Surveillance /Reconnaissance missions.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- May 07, 2018
- Source ID
- W911NF1810038
Entities
People
- Ronald S Fearing
Organizations
- Army Contracting Command
- United States Army
- University of California, Berkeley