Jul 1, 2016

From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion

Journal of the Royal Society, Interface
Konstantinos KarakasiliotisAuke Jan Ijspeert

Abstract

Robots are increasingly used as scientific tools to investigate animal locomotion. However, designing a robot that properly emulates the kinematic and dynamic properties of an animal is difficult because of the complexity of musculoskeletal systems and the limitations of current robotics technology. Here, we propose a design process that combines high-speed cineradiography, optimization, dynamic scaling, three-dimensional printing, high-end servomotors and a tailored dry-suit to construct Pleurobot: a salamander-like robot that closely mimics its biological counterpart, Pleurodeles waltl Our previous robots helped us test and confirm hypotheses on the interaction between the locomotor neuronal networks of the limbs and the spine to generate basic swimming and walking gaits. With Pleurobot, we demonstrate a design process that will enable studies of richer motor skills in salamanders. In particular, we are interested in how these richer motor skills can be obtained by extending our spinal cord models with the addition of more descending pathways and more detailed limb central pattern generator networks. Pleurobot is a dynamically scaled amphibious salamander robot with a large number of actuated degrees of freedom (DOFs: 27 in t...Continue Reading

  • References29
  • Citations4

References

  • References29
  • Citations4

Citations

Mentioned in this Paper

Study
Biochemical Pathway
Patterns
Motor Skills
Articular System
Stumps protein, Drosophila
Three-dimensional
Pleurodeles waltl
Malignant Neoplasm of Spinal Cord
Neurons

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