FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2894712160> ?p ?o ?g. }

• W2894712160 abstract "Author(s): Lee, Jessica Stephanie | Advisor(s): Fearing, Ronald S; Agogino, Alice M | Abstract: In this thesis leg spines have been used in a variety of systems including traction for horizontal running, and a gripping mechanism for jumping on inclines. These spines were inspired by collapsible leg spines found on insects and spiders that provide a passive mechanism for increased traction while running over complex terrain. I used this architectural advantage as biological inspiration to increase the traction with a VelociRoACH, a high speed terrestrial robot. These spines exhibited anisotropic properties in the fore-aft and lateral directions, with a 2:1 holding-to-release force ratio on corkboard (0.2 N to 0.1 N). This increase in effective friction coefficient at the foot-to-surface contact points increased the running speed on flat ground and 20 degrees inclines and the maximum incline the robot can traverse by 10 degrees. The VelociRoACH with spines is able to engage the surface and pull up to 0.36 N whereas without spines it slips while pulling 0.2 N, increasing the useful work in pulling a load. The spines also allow the robot to remain dynamically stable and resist torque disturbances.After preliminary experiments using bio-inspired spines on the VelociRoACH, the various structures insects use to enhance interaction with the substrate during jumping were examined. The effectiveness of spines at the base of cricket tibia and attachment pads on tarsi were tested in providing traction on various surfaces by measuring jump kinetic energy using high-speed video. Both substrate and attachment structure significantly affected jump kinetic energy, but most significantly spines increased jumping performance by 82% on Styrofoam. Inspired by crickets, similar experiments were performed on a 2.5g jumping robot for more controlled tests. The addition of spines increased jump kinetic energy on Styrofoam by 65%, and doubled its jump distance to 40cm. Adding rubber attachment pads allowed the robot to jump on Teflon, increasing the kinetic energy from 0 to 7.8mJ. Leg spines appear critical for maximum jumping performance on surfaces that allow penetration and attachment pads can increase performance on smooth surfaces. Lastly, spines were used in a gripper mechanism for the monopedal jumping robot, Salto, to reduce slip and provide adhesion capabilities. The mechanism pushes in angled spines along their length and is kinematically constrained to engage/disengage with leg crouch/extension. The resulting gripper introduces no new actuators, enables jumping on penetrable inclines up to 60 degrees, as opposed to a rubber ball foot that works up to 20 degrees, and enables static adhesion to hold 7.5 times the robot's weight from a ceiling.Overall leg and foot spines have been shown to be an effective means of increasing performance in traction and jumping without requiring additional actuators, degrees of freedom, batteries or control. This is especially useful for small robots that have limited real estate and weight constraints. However, using spines as a passive mechanical solution for traction can be used in larger robots and other applications as well." @default.
• W2894712160 created "2018-10-12" @default.
• W2894712160 creator A5090049004 @default.
• W2894712160 date "2018-01-01" @default.
• W2894712160 modified "2023-09-24" @default.
• W2894712160 title "Increased Millirobot Traction in Running and Jumping through Leg Spines" @default.
• W2894712160 cites W1494285813 @default.
• W2894712160 cites W1572242294 @default.
• W2894712160 cites W181719118 @default.
• W2894712160 cites W1969570716 @default.
• W2894712160 cites W1986345233 @default.
• W2894712160 cites W1996628103 @default.
• W2894712160 cites W2058592719 @default.
• W2894712160 cites W2064810454 @default.
• W2894712160 cites W2075119689 @default.
• W2894712160 cites W2076162853 @default.
• W2894712160 cites W2079358672 @default.
• W2894712160 cites W2091356137 @default.
• W2894712160 cites W2091397649 @default.
• W2894712160 cites W2094496385 @default.
• W2894712160 cites W2109257377 @default.
• W2894712160 cites W2112978907 @default.
• W2894712160 cites W2114924842 @default.
• W2894712160 cites W2118423308 @default.
• W2894712160 cites W2121666081 @default.
• W2894712160 cites W2124064924 @default.
• W2894712160 cites W2125095347 @default.
• W2894712160 cites W2126341869 @default.
• W2894712160 cites W2131945542 @default.
• W2894712160 cites W2152310786 @default.
• W2894712160 cites W2152444335 @default.
• W2894712160 cites W2154577831 @default.
• W2894712160 cites W2155198020 @default.
• W2894712160 cites W2239166089 @default.
• W2894712160 cites W2329683768 @default.
• W2894712160 cites W2343762060 @default.
• W2894712160 cites W2470487727 @default.
• W2894712160 cites W2559959938 @default.
• W2894712160 cites W2560400493 @default.
• W2894712160 cites W2560658338 @default.
• W2894712160 cites W2561418509 @default.
• W2894712160 cites W2564265104 @default.
• W2894712160 cites W2765693866 @default.
• W2894712160 cites W2884226777 @default.
• W2894712160 cites W166891884 @default.
• W2894712160 hasPublicationYear "2018" @default.
• W2894712160 type Work @default.
• W2894712160 sameAs 2894712160 @default.
• W2894712160 citedByCount "0" @default.
• W2894712160 crossrefType "journal-article" @default.
• W2894712160 hasAuthorship W2894712160A5090049004 @default.
• W2894712160 hasConcept C121332964 @default.
• W2894712160 hasConcept C127313418 @default.
• W2894712160 hasConcept C127413603 @default.
• W2894712160 hasConcept C13280743 @default.
• W2894712160 hasConcept C148762608 @default.
• W2894712160 hasConcept C151730666 @default.
• W2894712160 hasConcept C153911025 @default.
• W2894712160 hasConcept C169760540 @default.
• W2894712160 hasConcept C174884520 @default.
• W2894712160 hasConcept C176809094 @default.
• W2894712160 hasConcept C192562407 @default.
• W2894712160 hasConcept C205383261 @default.
• W2894712160 hasConcept C2779897013 @default.
• W2894712160 hasConcept C2780695682 @default.
• W2894712160 hasConcept C38834483 @default.
• W2894712160 hasConcept C41008148 @default.
• W2894712160 hasConcept C44154836 @default.
• W2894712160 hasConcept C62520636 @default.
• W2894712160 hasConcept C66938386 @default.
• W2894712160 hasConcept C86803240 @default.
• W2894712160 hasConcept C95038775 @default.
• W2894712160 hasConceptScore W2894712160C121332964 @default.
• W2894712160 hasConceptScore W2894712160C127313418 @default.
• W2894712160 hasConceptScore W2894712160C127413603 @default.
• W2894712160 hasConceptScore W2894712160C13280743 @default.
• W2894712160 hasConceptScore W2894712160C148762608 @default.
• W2894712160 hasConceptScore W2894712160C151730666 @default.
• W2894712160 hasConceptScore W2894712160C153911025 @default.
• W2894712160 hasConceptScore W2894712160C169760540 @default.
• W2894712160 hasConceptScore W2894712160C174884520 @default.
• W2894712160 hasConceptScore W2894712160C176809094 @default.
• W2894712160 hasConceptScore W2894712160C192562407 @default.
• W2894712160 hasConceptScore W2894712160C205383261 @default.
• W2894712160 hasConceptScore W2894712160C2779897013 @default.
• W2894712160 hasConceptScore W2894712160C2780695682 @default.
• W2894712160 hasConceptScore W2894712160C38834483 @default.
• W2894712160 hasConceptScore W2894712160C41008148 @default.
• W2894712160 hasConceptScore W2894712160C44154836 @default.
• W2894712160 hasConceptScore W2894712160C62520636 @default.
• W2894712160 hasConceptScore W2894712160C66938386 @default.
• W2894712160 hasConceptScore W2894712160C86803240 @default.
• W2894712160 hasConceptScore W2894712160C95038775 @default.
• W2894712160 hasLocation W28947121601 @default.
• W2894712160 hasOpenAccess W2894712160 @default.
• W2894712160 hasPrimaryLocation W28947121601 @default.
• W2894712160 hasRelatedWork W1964072092 @default.
• W2894712160 hasRelatedWork W1988156708 @default.
• W2894712160 hasRelatedWork W200670450 @default.
• W2894712160 hasRelatedWork W2015201597 @default.

• next