This thesis examines the influence on range-of-motion
of beetle body of changes in leg segment
parameters. From beetle's leg orientation, influence of
the following leg segment parameters are investigated:
coxa length, coxa twist and body-coxa joint.
Kinematic equations are derived for legs of the
beetle. Roots of quartic polynomials obtained...
This thesis investigates a simple dynamic model of the hind leg
of a beetle during initiation of a step. The primary assumption was
that the full load of the body was carried on the hind leg during
this time. That is, the only forces on the body were that of...
An actuated, bipedal model is developed to investigate lateral plane locomotion dynamics and stability on inclines. Both the point mass case and rigid body case are considered. Variations in the force-free leg length are determined via inverse dynamics to explicitly and implicitly match prescribed lateral and fore-aft force profiles, respectively....
This thesis presents a method for determining range
of body motion for a walking machine with feet fixed on
the ground. The darkling beetle was selected as the
sample subject in this study.
A closed form inverse kinematic solution is used to
determine if a point in space is within...
While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will...
Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner
over complex terrain, a feat that has yet to be equaled by man-made legged robots.
Recent experimental results suggest that these insects may employ a hierarchical
control structure, in which locomotion performance emerges from a combination of...
Simulation models were developed to explore the reversible nature of gecko dry
adhesion system. The central idea of this model is that even with a small moment imparted on the contact tip, the seta can be easily ad-adhered. It is shown that this contact condition is very sensitive, but can...