A metric for self-rightability and understanding its relationship to simple morphologies

Kessens, Chad C.; Lennon, Craig; Collins, Jason

doi:10.1109/iros.2014.6943081

Cited by 8 publications

(4 citation statements)

References 17 publications

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“…To understand the energetic requirements for self-righting using symmetric wing opening and to determine whether the robot could self-right quasi-statically or must right dynamically, we utilized a generic planar self-righting analysis framework [43] and its associated self-rightability metric [70]. We approximated the body shape in the sagittal plane as a rectangle and the wing shape in the sagittal plane as a rigid truncated ellipse (Figure 7a).…”

Section: Geometric Model Of the Wingsmentioning

confidence: 99%

“…We performed systematic experiments to study how winged self-righting performance depends on the speed and magnitude of wing opening, and used a simple dynamic model to understand the falling phase of self-righting. We then applied a planar geometric modeling framework [43,70] to study how the kinematic and energetic requirements for dynamic self-righting depend on wing shape and body/wing mass distribution, and determined whether quasi-static righting is possible for the robot and the discoid cockroach. Finally, inspired by observations from cockroach winged self-righting experiments, we performed robot experiments by using different left and right wing opening to understand whether asymmetric wing opening provides any advantage for self-righting [63].…”

Section: Introductionmentioning

confidence: 99%

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Mechanical principles of dynamic terrestrial self-righting using wings

Kessens

Fearing

2017

Advanced Robotics

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Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening magnitude, speed, and asymmetry, and modeled how kinematic and energetic requirements depend on wing shape and body/wing mass distribution. We discovered that the robot self-rights dynamically using kinetic energy to overcome potential energy barriers, that larger and faster symmetric wing opening increases self-righting performance, and that opening wings asymmetrically increases righting probability when wing opening is small. Our results suggested that the discoid cockroach's winged self-righting is a dynamic maneuver. While the thin, lightweight wings of the discoid cockroach and our robot are energetically sub-optimal for self-righting compared to tall, heavy ones, their ability to open wings saves them substantial energy compared to if they had static shells. Analogous to biological exaptations, our study provided a proof-of-concept for terrestrial robots to use existing morphology in novel ways to overcome new locomotor challenges.

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Section: Geometric Model Of the Wingsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mechanical principles of dynamic terrestrial self-righting using wings

Kessens

Fearing

2017

Advanced Robotics

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“…Most work has revolved around devising specific solutions for particular systems, either at hardware design level (low center of mass, invertible robots [20]) or defining embodiment specific strategies [21]. The work in [22] is attempting to develop a generalized method for self-righting strategies, by analyzing and exploiting the given robot structure. However, the results are still restricted to small dimensional designs and do not address multi-legged systems (the study focuses on a tracked onearm manipulator).…”

Section: State Of the Artmentioning

confidence: 99%

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

Radulescu

Havoutis

Caldwell

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Autonomous legged robots will be required to handle a wide range of tasks in complex environments. While a lot of research has focused on developing their abilities for periodic locomotion tasks, less effort has been invested in devising generalized strategies for dynamic, non-periodic movements. Motion design approaches are frequently enlisted in the form of teleoperation or predefined heuristics in such scenarios. We employ a realistic simulation of the hydraulically actuated HyQ2Max quadrupedal system for investigations on two distinctive tasks: rearing and posture recovery. We present a whole-body optimization methodology for non-periodic tasks on quadrupedal systems. This approach delivers solutions involving multiple contacts without the need for predefined feet placements. The results obtained show the potential of optimization approaches for motion synthesis in the context of complex tasks.

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“…Earlier studies have proposed physical models with varying levels of detail ("templates and anchors" (Full and Koditschek 1999)) to determine whether animals meet the mechanical requirements for righting either quasi-statically or dynamically (Kessens et al 2014;Li et al 2016;Kessens and Dotterweich 2017;. To this purpose, we created a detailed 3D rendered model of spotted lanternflies' bodies using photogrammetry and Blender computer graphics software.…”

Section: Introductionmentioning

confidence: 99%

Using pose estimation and 3D rendered models to study leg-mediated self-righting by lanternflies

Bien

Alexander

et al. 2023

Preprint

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The ability to upright quickly and efficiently when overturned on the ground (terrestrial self-righting) is crucial for living organisms and robots. The emerging field of terradynamics seeks to understand how and why different animals use diverse self-righting strategies. We studied this behavior using high speed multiangle video in nymphs of the invasive spotted lanternfly (SLF, Lycorma delicatula), an insect that must frequently recover from falling in its native habitat. While most insect species previously studied can use wing opening to facilitate overturning, nymphs, like most robots, are wingless. SLFs were highly successful at self-righting (>92% of trials) with no significant difference in the time or number of attempts required for three substrates with varying friction and roughness. These nymphs seldom overturned using the pitching and rolling strategies observed for other insect species, instead primarily flipping upright by rotating around a diagonal body axis. To understand these motions, we used video, photogrammetry and Blender rendering software to create novel, highly realistic 3D models of SLF body poses during each strategy. These models were analyzed using the energy landscape theory of self-righting, which posits that animals use methods that minimize energy barriers to overturning, and inertial morphing, which proposes the animal adjusts its body pose to minimize the rotational inertia during overturning, a theory which has not been applied to self-righting. A combination of both theories was found to explain the observed preferred strategies of this species, indicating the value of using 3D renderings with mechanical modeling for terradynamics and biomimetic applications.

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A metric for self-rightability and understanding its relationship to simple morphologies

Cited by 8 publications

References 17 publications

Mechanical principles of dynamic terrestrial self-righting using wings

Mechanical principles of dynamic terrestrial self-righting using wings

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

Using pose estimation and 3D rendered models to study leg-mediated self-righting by lanternflies

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