Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements

Anthony Garcia; Shashank Priya; Paul Marek

doi:10.1115/SMASIS2015-8894

Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements

Anthony Garcia, Shashank Priya, Paul Marek

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791857304
DOIs	https://doi.org/10.1115/SMASIS2015-8894
State	Published - 2015
Externally published	Yes
Event	ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015 - Colorado Springs, United States Duration: Sep 21 2015 → Sep 23 2015

Publication series

Name	ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015
Volume	2

Conference

Conference	ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015
Country/Territory	United States
City	Colorado Springs
Period	9/21/15 → 9/23/15

Bibliographical note

Publisher Copyright:
© Copyright 2015 by ASME.

Publisher link

10.1115/SMASIS2015-8894

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Garcia, A., Priya, S., & Marek, P. (2015). Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements. In Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting (ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/SMASIS2015-8894

Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements. / Garcia, Anthony; Priya, Shashank; Marek, Paul.
Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting. American Society of Mechanical Engineers, 2015. (ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Garcia, A, Priya, S & Marek, P 2015, Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements. in Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting. ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015, vol. 2, American Society of Mechanical Engineers, ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015, Colorado Springs, United States, 9/21/15. https://doi.org/10.1115/SMASIS2015-8894

Garcia A, Priya S, Marek P. Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements. In Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting. American Society of Mechanical Engineers. 2015. (ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015). doi: 10.1115/SMASIS2015-8894

Garcia, Anthony ; Priya, Shashank ; Marek, Paul. / Understanding the locomotion and dynamic controls for millipedes : Part 1-Kinematic analysis of millipede movements. Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting. American Society of Mechanical Engineers, 2015. (ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015).

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abstract = "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.",

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Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements

Abstract

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