Load Feedback from a Dynamically Scaled Robotic Model of Carausius Morosus Middle Leg

Zyhowski, William P.; Zill, Sasha N.; Szczecinski, Nicholas S.

doi:10.1007/978-3-031-20470-8_14

Cited by 5 publications

(4 citation statements)

References 23 publications

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“…The leg was designed to contain the same degrees of freedom as the C. morosus middle leg ( Cruse and Bartling, 1995 ; Theunissen et al, 2015 ; Zyhowski et al, 2022 ). The forward kinematics of the leg can be formulated as a chain of homogenous transformation matrices, each assembled using the product of exponentials formula [Equation (1)].…”

Section: Methodsmentioning

confidence: 99%

“…This required that at the end of swing, the tarsus overshoot the location of touchdown, accelerate rearward until its speed matched the treadmill, then lower to contact the treadmill. Failure to match the tarsus and treadmill speed resulted in “bouncing” of the leg at the beginning of stance that is not observed in walking stick insects ( Zyhowski et al, 2022 ). This likely occurs because the robotic leg has no compliant tarsus, but instead presses its relatively rigid tibia into the treadmill.…”

Section: Methodsmentioning

confidence: 99%

“…We discuss implications for the control of walking in both insects and robots. Preliminary results from some of these experiments were published at the Living Machines conference ( Zyhowski et al, 2022 ).…”

Section: Introductionmentioning

confidence: 99%

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Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping

2023

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Animals utilize a number of neuronal systems to produce locomotion. One type of sensory organ that contributes in insects is the campaniform sensillum (CS) that measures the load on their legs. Groups of the receptors are found on high stress regions of the leg exoskeleton and they have significant effects in adapting walking behavior. Recording from these sensors in freely moving animals is limited by technical constraints. To better understand the load feedback signaled by CS to the nervous system, we have constructed a dynamically scaled robotic model of the Carausius morosus stick insect middle leg. The leg steps on a treadmill and supports weight during stance to simulate body weight. Strain gauges were mounted in the same positions and orientations as four key CS groups (Groups 3, 4, 6B, and 6A). Continuous data from the strain gauges were processed through a previously published dynamic computational model of CS discharge. Our experiments suggest that under different stepping conditions (e.g., changing “body” weight, phasic load stimuli, slipping foot), the CS sensory discharge robustly signals increases in force, such as at the beginning of stance, and decreases in force, such as at the end of stance or when the foot slips. Such signals would be crucial for an insect or robot to maintain intra- and inter-leg coordination while walking over extreme terrain.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

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Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping

2023

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“…En Thai y Paulishen (2011) se le realiza una evaluación a este kit para su uso en cursos de ingeniería en Robótica. Los servomotores usados por Robotis son los denominados Dynamixel y son en la actualidad ampliamente utilizados en robots avanzados para la investigación (Arena et al, 2022;Zyhowski et al, 2022; Mejoramiento de un servomotor inteligente de bajo costo Improvement of a low-cost intelligent servomotor Shirai et al, 2022;Kusnerova et al, 2020, Iqbal et al, 2020.…”

Section: Introductionunclassified

Mejoramiento de un servomotor inteligente de bajo costo

Sánchez-García,

Bugarin,

Aguilar-Bustos

2023

ICBI

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En este artículo se describe una mejora implementada al servomotor Dynamixel AX-12, un servomotor inteligente de bajo costo muy utilizado en el diseño y construcción de robots avanzados para entretenimiento e investigación. Se detalla la modificación de su software y hardware a fin de cambiar su protocolo de comunicación original por SPI y con esto lograr mayores velocidades de transmisión de datos entre servomotores del mismo tipo y sistemas de cómputo supervisores que operen en tiempo real. Adicionalmente, se le programa un controlador PD con prealimentación para regular tanto la velocidad como la posición angular de su eje de carga, con un periodo de muestreo de 1 [ms] (10 veces mayor respecto a lo alcanzado con el servomotor original). Finalmente se describen las conclusiones obtenidas respecto al comportamiento satisfactorio tanto de lo teórico como de lo experimental.

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Analyzing 3D Limb Kinematics of Drosophila Melanogaster for Robotic Platform Development

Goldsmith

Haustein

Bockemühl

et al. 2022

Biomimetic and Biohybrid Systems

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Load Feedback from a Dynamically Scaled Robotic Model of Carausius Morosus Middle Leg

Cited by 5 publications

References 23 publications

Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping

Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping

Mejoramiento de un servomotor inteligente de bajo costo

Analyzing 3D Limb Kinematics of Drosophila Melanogaster for Robotic Platform Development

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