FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4200250089> ?p ?o ?g. }

• W4200250089 endingPage "026006" @default.
• W4200250089 startingPage "026006" @default.
• W4200250089 abstract "The transition from the lab to natural environments is an archetypal challenge in robotics. While larger robots can manage complex limb-ground interactions using sensing and control, such strategies are difficult to implement on small platforms where space and power are limited. The Harvard Ambulatory Microrobot (HAMR) is an insect-scale quadruped capable of effective open-loop running on featureless, hard substrates. Inspired by the predominantly feedforward strategy of rapidly-running cockroaches on uneven terrain (Sponberg, 2007), we used HAMR to explore open-loop running on two 3D printed heterogeneous terrains generated using fractional Brownian motion. The 'pocked' terrain had foot-scale features throughout while the 'jagged' terrain features increased in height in the direction of travel. We measured the performance of trot and pronk gaits while varying limb amplitude and stride frequency. The frequencies tested encompassed different dynamics regimes: body resonance (10-25 Hz) and kinematic running (30-40 Hz), with dynamics typical of biological running and walking, respectively, and limb-transmission resonance (45-60 Hz). On the featureless and pocked terrains, low mechanical cost-of-transport (mCoT) kinematic running combinations performed best without systematic differences between trot and pronk; indicating that if terrain features are not too tall, a robot can transition from homo-to heterogeneous environments in open-loop. Pronk bypassed taller features than trot on the jagged terrain, and higher mCoT, lower frequency running was more often effective. While increasing input power to the robot improved performance in general, lower frequency pronking on jagged terrain allowed the robot to bypass taller features compared with the same input power at higher frequencies. This was correlated with the increased variation in center-of-mass orientation occurring at frequencies near body resonance. This study established that appropriate choice of robot dynamics, as mediated by gait, frequency, and limb amplitude, can expand the terrains accessible to microrobots without the addition of sensing or closed-loop control." @default.
• W4200250089 created "2021-12-31" @default.
• W4200250089 creator A5024054934 @default.
• W4200250089 creator A5044080186 @default.
• W4200250089 creator A5068498670 @default.
• W4200250089 creator A5068613839 @default.
• W4200250089 date "2022-02-03" @default.
• W4200250089 modified "2023-09-30" @default.
• W4200250089 title "An insect-scale robot reveals the effects of different body dynamics regimes during open-loop running in feature-laden terrain" @default.
• W4200250089 cites W1532360000 @default.
• W4200250089 cites W1648369341 @default.
• W4200250089 cites W1822001265 @default.
• W4200250089 cites W1964300160 @default.
• W4200250089 cites W1971000168 @default.
• W4200250089 cites W1975023576 @default.
• W4200250089 cites W1999104896 @default.
• W4200250089 cites W2013876510 @default.
• W4200250089 cites W2029010014 @default.
• W4200250089 cites W2065224157 @default.
• W4200250089 cites W2085607773 @default.
• W4200250089 cites W2098179188 @default.
• W4200250089 cites W2099428832 @default.
• W4200250089 cites W2129287493 @default.
• W4200250089 cites W2131558485 @default.
• W4200250089 cites W2141241956 @default.
• W4200250089 cites W2143355985 @default.
• W4200250089 cites W2151794017 @default.
• W4200250089 cites W2154139861 @default.
• W4200250089 cites W2160050014 @default.
• W4200250089 cites W2164446354 @default.
• W4200250089 cites W2268948894 @default.
• W4200250089 cites W2279369962 @default.
• W4200250089 cites W2332670029 @default.
• W4200250089 cites W2341577751 @default.
• W4200250089 cites W2497730296 @default.
• W4200250089 cites W2573227850 @default.
• W4200250089 cites W2581659042 @default.
• W4200250089 cites W2612424321 @default.
• W4200250089 cites W2788083939 @default.
• W4200250089 cites W2796488588 @default.
• W4200250089 cites W2806316517 @default.
• W4200250089 cites W2899864353 @default.
• W4200250089 cites W2913566164 @default.
• W4200250089 cites W2941041278 @default.
• W4200250089 cites W2944007030 @default.
• W4200250089 cites W2944207499 @default.
• W4200250089 cites W2972130248 @default.
• W4200250089 cites W3013500420 @default.
• W4200250089 cites W3034963602 @default.
• W4200250089 cites W3042760495 @default.
• W4200250089 cites W3046529034 @default.
• W4200250089 cites W3093122171 @default.
• W4200250089 cites W3104876774 @default.
• W4200250089 cites W3125445761 @default.
• W4200250089 cites W3171146833 @default.
• W4200250089 doi "https://doi.org/10.1088/1748-3190/ac3f7d" @default.
• W4200250089 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/34874292" @default.
• W4200250089 hasPublicationYear "2022" @default.
• W4200250089 type Work @default.
• W4200250089 citedByCount "2" @default.
• W4200250089 countsByYear W42002500892022 @default.
• W4200250089 crossrefType "journal-article" @default.
• W4200250089 hasAuthorship W4200250089A5024054934 @default.
• W4200250089 hasAuthorship W4200250089A5044080186 @default.
• W4200250089 hasAuthorship W4200250089A5068498670 @default.
• W4200250089 hasAuthorship W4200250089A5068613839 @default.
• W4200250089 hasConcept C117896860 @default.
• W4200250089 hasConcept C121332964 @default.
• W4200250089 hasConcept C154945302 @default.
• W4200250089 hasConcept C161840515 @default.
• W4200250089 hasConcept C165062768 @default.
• W4200250089 hasConcept C187523126 @default.
• W4200250089 hasConcept C18903297 @default.
• W4200250089 hasConcept C31972630 @default.
• W4200250089 hasConcept C34413123 @default.
• W4200250089 hasConcept C39920418 @default.
• W4200250089 hasConcept C41008148 @default.
• W4200250089 hasConcept C44154836 @default.
• W4200250089 hasConcept C532751654 @default.
• W4200250089 hasConcept C74650414 @default.
• W4200250089 hasConcept C86803240 @default.
• W4200250089 hasConcept C90509273 @default.
• W4200250089 hasConceptScore W4200250089C117896860 @default.
• W4200250089 hasConceptScore W4200250089C121332964 @default.
• W4200250089 hasConceptScore W4200250089C154945302 @default.
• W4200250089 hasConceptScore W4200250089C161840515 @default.
• W4200250089 hasConceptScore W4200250089C165062768 @default.
• W4200250089 hasConceptScore W4200250089C187523126 @default.
• W4200250089 hasConceptScore W4200250089C18903297 @default.
• W4200250089 hasConceptScore W4200250089C31972630 @default.
• W4200250089 hasConceptScore W4200250089C34413123 @default.
• W4200250089 hasConceptScore W4200250089C39920418 @default.
• W4200250089 hasConceptScore W4200250089C41008148 @default.
• W4200250089 hasConceptScore W4200250089C44154836 @default.
• W4200250089 hasConceptScore W4200250089C532751654 @default.
• W4200250089 hasConceptScore W4200250089C74650414 @default.
• W4200250089 hasConceptScore W4200250089C86803240 @default.
• W4200250089 hasConceptScore W4200250089C90509273 @default.

• next