Template for robust soft-body crawling with reflex-triggered gripping. (4th February 2015)

• Record Type: Journal Article
• Authors: Schuldt, Dieter W; Rife, Jason; Trimmer, Barry
• Is Part Of: Bioinspiration & biomimetics. Volume 10:Number 1(2015:Feb.)
• Publication Date: 2015-02-04
• Subjects: soft robotics -- hybrid controls -- insect locomotion -- locomotion template; Biomimetics -- Periodicals; Biomedical materials -- Periodicals; Medical innovations -- Periodicals; Biomedical engineering -- Periodicals; 600
• DOI: 10.1088/1748-3190/10/1/016018
• Languages: English
• ISSNs: 1748-3182

Abstract

Abstract: Caterpillars show a remarkable ability to get around in complex environments (e.g. tree branches). Part of this is attributable to crochets which allow the animal to firmly attach to a wide range of substrates. This introduces an additional challenge to locomotion, however, as the caterpillar needs a way to coordinate the release of the crochets and the activation of muscles to adjust body posture. Typical control models have focused on global coordination through a central pattern generator (CPG). This paper develops an alternative to the CPG, which accomplishes the same task and is robust to a wide range of body properties and control parameter variation. A one-dimensional model is proposed which consists of lumped masses connected by a network of springs, dampers and muscles. Computer simulations of the controller/model system are performed to verify its robustness and to permit comparison between the generated gaits and those observed in real caterpillars (specifically Manduca sexta .).