TY - GEN
T1 - Understanding the locomotion and dynamic controls for millipedes
T2 - ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015
AU - Garcia, Anthony
AU - Priya, Shashank
AU - Marek, Paul
PY - 2015
Y1 - 2015
N2 - An investigation of the biological locomotion and control mechanisms observed in Diplopoda (millipedes) is performed in order to provide design rules for the development of a crawling millipede-inspired robot (millibot). Millipedes have long bodies with numerous pairs of legs, which allows them to perform higher ranges of motion compared to other arthropods traveling in the same environment. The relevant features of millipedes with respect to robotics include: (i) metachronal locomotion, (ii) ability to burrow through different substrates, and (iii) capability to traverse uneven terrains and align themselves swiftly when fallen over. A mathematical model is proposed describing these locomotion features that will provide guidance towards emulating these actions in a millibot.
AB - An investigation of the biological locomotion and control mechanisms observed in Diplopoda (millipedes) is performed in order to provide design rules for the development of a crawling millipede-inspired robot (millibot). Millipedes have long bodies with numerous pairs of legs, which allows them to perform higher ranges of motion compared to other arthropods traveling in the same environment. The relevant features of millipedes with respect to robotics include: (i) metachronal locomotion, (ii) ability to burrow through different substrates, and (iii) capability to traverse uneven terrains and align themselves swiftly when fallen over. A mathematical model is proposed describing these locomotion features that will provide guidance towards emulating these actions in a millibot.
UR - http://www.scopus.com/inward/record.url?scp=84967185419&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84967185419&partnerID=8YFLogxK
U2 - 10.1115/SMASIS2015-8894
DO - 10.1115/SMASIS2015-8894
M3 - Conference contribution
AN - SCOPUS:84967185419
T3 - ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015
BT - Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting
PB - American Society of Mechanical Engineers
Y2 - 21 September 2015 through 23 September 2015
ER -