A5006243281- Robotic Locomotion and Control
- Biomimetic flight and propulsion mechanisms
- Insect and Arachnid Ecology and Behavior
- Adhesion, Friction, and Surface Interactions
- Physiological and biochemical adaptations
- Modular Robots and Swarm Intelligence
- Sports Performance and Training
- Force Microscopy Techniques and Applications
- Sports Dynamics and Biomechanics
- Crustacean biology and ecology
- Muscle activation and electromyography studies
- Amphibian and Reptile Biology
- Animal Behavior and Reproduction
- Prosthetics and Rehabilitation Robotics
- Bat Biology and Ecology Studies
- Neurobiology and Insect Physiology Research
- Soft Robotics and Applications
- Micro and Nano Robotics
- Control and Dynamics of Mobile Robots
- Advanced Sensor and Energy Harvesting Materials
- Robot Manipulation and Learning
- Motor Control and Adaptation
- Fish biology, ecology, and behavior
- Dielectric materials and actuators
- Winter Sports Injuries and Performance
University of California, Berkeley
2016-2025
California State University, Sacramento
2021
Georgia Institute of Technology
2021
BOKU University
2021
Texas A&M University
2021
University of California, Davis
2021
South Dakota School of Mines and Technology
2021
University of Washington
2021
University of New Hampshire
2021
Woods Hole Oceanographic Institution
2019
Geckos have evolved one of the most versatile and effective adhesives known. The mechanism dry adhesion in millions setae on toes geckos has been focus scientific study for over a century. We provide first direct experimental evidence gecko by van der Waals forces, reject use mechanisms relying high surface polarity, including capillary adhesion. live Tokay were highly hydrophobic, adhered equally well to strongly hydrophobic hydrophilic, polarizable surfaces. Adhesion single isolated seta...
Cheetahs and beetles run, dolphins salmon swim, bees birds fly with grace economy surpassing our technology. Evolution has shaped the breathtaking abilities of animals, leaving us challenge reconstructing their targets control mechanisms dexterity. In this review we explore a corner fascinating world. We describe mathematical models for legged animal locomotion, focusing on rapidly running insects highlighting past achievements challenges that remain. Newtonian body--limb dynamics are most...
Abstract This paper presents an integrated, systems‐level view of several novel design and control features associated with the biologically inspired, hexapedal, RiSE (Robots in Scansorial Environments) robot. is first legged machine capable locomotion on both ground a variety vertical building surfaces including brick, stucco, crushed stone at speeds up to 4 cm/s, quietly without use suction, magnets, or adhesives. It achieves these capabilities through combination bioinspired traditional...
An insect-scale soft robot has fast relative speed of motion, high load-carrying capability, and exceptional robustness.
SUMMARY Geckos with adhesive toe pads rapidly climb even smooth vertical surfaces. We challenged geckos (Hemidactylus garnotii) to up a track that contained force platform. climbed vertically at 77 cm s-1 stride frequency of 15 Hz using trotting gait. During each step, whole body fore–aft, lateral and normal forces all decreased zero when the animal attached or detached its pads. Peak fore–aft was twice weight mid-step. constant average velocity without generating decelerating on their...
ABSTRACT To examine the effects of variation in body form on mechanics terrestrial locomotion, we used a miniature force platform to measure ground reaction forces smallest and, relative its mass, one fastest invertebrates ever studied, American cockroach Periplaneta americana (mass=0·83g). From 0·44–1·0ms−1, P. an alternating tripod stepping pattern. Fluctuations gravitational potential energy and horizontal kinetic center mass were nearly phase, characteristic running or bouncing gait....
Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed in 300-800 ms by compressing 40-60%. High-speed videography revealed crevice negotiation be complex, discontinuous maneuver. After traversing enter vertically space, crawled at velocities approaching 60 cm⋅s(-1),...
A broad diversity of biological organisms and systems interact with soil in ways that facilitate their growth survival. These interactions are made possible by strategies enable to accomplish functions can be analogous those required geotechnical engineering systems. Examples include anchorage soft weak ground, penetration into hard stiff subsurface materials movement loose sand. Since the have been ‘vetted’ process natural selection, they governed same physical laws both engineered...
For gap-crossing agility, arboreal animals require the ability to stabilize dynamic landings on branches. Despite lacking a prehensile grip, squirrels achieve stable using palmar grasp. We investigated landing dynamics of free-ranging fox (Sciurus niger) uncover strategies for stable, above-branch landings. Using high-speed video and force-torque measurements in sagittal plane, we quantified kinetics across gap distances. Squirrels rapidly managed >80% energy with their forelimbs....
Many animals that locomote by legs possess adhesive pads. Such organs are rapidly releasable and forces can be controlled during walking running. This capacity results from the interaction of with complex mechanical systems. Here we present an integrative study mechanics adhesion smooth attachment pads (arolia) in Asian Weaver ants (Oecophylla smaragdina). Arolia unfolded folded back each step. They extended either actively contraction claw flexor muscle or passively when pulled toward body....
To stabilize locomotion, animals must generate forces appropriate to overcome the effects of perturbations and maintain a desired speed or direction movement. We studied stabilizing mechanism employed by rapidly running insects using novel apparatus perturb cockroaches (Blaberus discoidalis). The used chemical propellants accelerate small projectile, generating reaction force impulses less than 10 ms duration. was mounted onto thorax insect, oriented propel projectile laterally loaded with...
Neuromechanics seeks to understand how muscles, sense organs, motor pattern generators, and brain interact produce coordinated movement, not only in complex terrain but also when confronted with unexpected perturbations. Applications of neuromechanics include ameliorating human health problems (including prosthesis design restoration movement following or spinal cord injury), as well the design, actuation control mobile robots. In animals, emerges from interplay among descending output...
ABSTRACT Six-legged pedestrians, cockroaches, use a running gait during locomotion. The was defined by measuring ground reaction forces and mechanical energy fluctuations of the center mass in Blaberus discoidalis (Serville) as they travelled over miniature force platform. These six-legged animals produce horizontal vertical ground-reaction patterns similar to those found two-, four-and eight-legged runners. Lateral were less than half fluctuations. At speeds between 0.08 0.66 ms−1, kinetic...
To achieve desirable biomimetic motion, actuators must be able to reproduce the important features of natural muscle such as power, stress, strain, speed response, efficiency, and controllability. It is a mistake, however, consider only an energy output device. Muscle multifunctional. In locomotion, often acts absorber, variable-stiffness suspension element, or position sensor, for example. Electroactive polymer technologies based on electric-field-induced deformation dielectrics with...
ABSTRACT Many-legged animals, such as crabs and cockroaches, utilize whole-body mechanics similar to that observed for running bipeds trotting quadrupedal mammals. Despite the diversity in morphology, two legs a mammal, three an insect four crab can function same way one leg of biped during ground contact. To explain how diverse designs result common dynamics, we used miniature force platform measure reaction forces produced by individual cockroach Blaberus discoidalis. Hexapedal runners...
ABSTRACT Stability is fundamental to the performance of terrestrial locomotion. Running cockroaches met criteria for static stability over a wide range speeds, yet several locomotor variables changed in way that revealed an increase importance dynamic as speed increased. Duty factors (the fraction time leg spends on ground relative stride period) decreased 0.5 and below with speed. The duration double support (i.e. when both tripods, or all six legs, were ground) significantly All legs had...
Robots to date lack the robustness and performance of even simplest animals when operating in unstructured environments. This observation has prompted an interest biomimetic robots that take design inspiration from biology. However, designs are compromised by complexity fragility result using traditional engineering materials manufacturing methods. We argue must be combined with structures mimic way biological composed, embedded actuators sensors spatially-varied materials. proposition is...