Outside laboratory conditions and human-made structures, animals rarely encounter flat surfaces. Instead, natural substrates are uneven surfaces with height variation that ranges from the microscopic scale to the macroscopic scale. For walking animals (which we define as encompassing any form of legged movement across the ground, such as walking, running, galloping, etc.), such substrate ‘roughness’ influences locomotion in a multitude of ways across scales, from roughness that influences how each toe or foot contacts the ground, to larger obstacles that animals must move over or navigate around. Historically, the unpredictability and variability of natural environments has limited the ability to collect data on animal walking biomechanics. However, recent technical advances, such as more sensitive and portable cameras, biologgers, laboratory tools to fabricate rough terrain, as well as the ability to efficiently store and analyze large variable datasets, have expanded the opportunity to study how animals move under naturalistic conditions. As more researchers endeavor to assess walking over rough terrain, we lack a consistent approach to quantifying roughness and contextualizing these findings. This Review summarizes existing literature that examines non-human animals walking on rough terrain and presents a metric for characterizing the relative substrate roughness compared with animal size. This framework can be applied across terrain and body scales, facilitating direct comparisons of walking over rough surfaces in animals ranging in size from ants to elephants.
more »
« less
A terrain treadmill to study animal locomotion through large obstacles
ABSTRACT A challenge to understanding locomotion in complex three-dimensional terrain with large obstacles is to create tools for controlled, systematic experiments. Recent terrain arenas allow observations at small spatiotemporal scales (∼10 body lengths or cycles). Here, we created a terrain treadmill to enable high-resolution observation of animal locomotion through large obstacles over large spatiotemporal scales. An animal moves through modular obstacles on an inner sphere, while a rigidly attached, concentric, transparent outer sphere rotates with the opposite velocity via closed-loop feedback to keep the animal on top. During sustained locomotion, a discoid cockroach moved through pillar obstacles for up to 25 min (2500 cycles) over 67 m (1500 body lengths). Over 12 trials totaling ∼1 h, the animal was maintained within a radius of 1 body length (4.5 cm) on top of the sphere 90% of the time. The high-resolution observation enables the study of diverse locomotor behaviors and quantification of animal–obstacle interaction.
more »
« less
- Award ID(s):
- 1852155
- NSF-PAR ID:
- 10357398
- Date Published:
- Journal Name:
- Journal of Experimental Biology
- Volume:
- 225
- Issue:
- 13
- ISSN:
- 0022-0949
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
null (Ed.)Many soft robots are capable of significantly changing their shape, an ability that can offer advantages in many applications. For instance, such a robot can flatten its body to fit under small gaps and expand to move over large obstacles. Further, because these shape changes are usually driven by a pressurized fluid, if they act over a large area, they have the potential to apply large forces to the world. However, when these same shape changes are used for the locomotion of an untethered robot, they tend to result in slow forward movement. Here we present a hybrid soft-rigid elongated-sphere robot that decouples shape change from locomotion. Pairing a compliant, inflatable outer skin, which changes volume by 15x to both fit under and roll over obstacles and can lift objects up to 30 kg, with a wheeled internal carriage, we obtain relatively fast locomotion. A new two-sided controllable adhesive between the internal carriage and the skin enables the carriage to climb vertically inside the skin, allowing the robot to climb external obstacles. We present the design of the robot, simple modeling of its behavior, and experimental testing. Our work advances the area of hybrid soft-rigid robotics by demonstrating how leveraging the strengths of both soft and rigid systems can have quantifiable performance benefits.more » « less
-
Abstract Legged robots have a unique capability of traversing rough terrains and negotiating cluttered environments. Recent control development of legged robots has enabled robust locomotion on rough terrains. However, such approaches mainly focus on maintaining balance for the robot body. In this work, we are interested in leveraging the whole body of the robot to pass through a permeable obstacle (e.g., a small confined opening) with height, width, and terrain constraints. This paper presents a planning framework for legged robots manipulating their body and legs to perform collision-free locomotion through a permeable obstacle. The planner incorporates quadrupedal gait constraint, biasing scheme, and safety margin for the simultaneous body and foothold motion planning. We perform informed sampling for the body poses and swing foot position based on the gait constraint while ensuring stability and collision avoidance. The footholds are planned based on the terrain and the contact constraint. We also integrate the planner with robot control to execute the planned trajectory successfully. We validated our approach in high-fidelity simulation and hardware experiments on the Unitree A1 robot navigating through different representative permeable obstacles.more » « less
-
This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain. The high-level task planner employs linear temporal logic for a reactive game synthesis between the robot and its environment and provides a formal guarantee on navigation safety and task completion. To address environmental partial observability, a belief abstraction model is designed by partitioning the environment into multiple belief regions and employed at the high-level navigation planner to estimate the dynamic obstacles' location. This additional location information of dynamic obstacles offered by belief abstraction enables less conservative long-horizon navigation actions beyond guaranteeing immediate collision avoidance. Accordingly, a synthesized action planner sends a set of locomotion actions to the middle-level motion planner while incorporating safe locomotion specifications extracted from safety theorems based on a reduced-order model (ROM) of the locomotion process. The motion planner employs the ROM to design safety criteria and a sampling algorithm to generate nonperiodic motion plans that accurately track high-level actions. At the low level, a foot placement controller based on an angular-momentum linear inverted pendulum model is implemented and integrated with an ankle-actuated passivity-based controller for full-body trajectory tracking. To address external perturbations, this study also investigates the safe sequential composition of the keyframe locomotion state and achieves robust transitions against external perturbations through reachability analysis. The overall TAMP framework is validated with extensive simulations and hardware experiments on bipedal walking robots Cassie and Digit designed by Agility Robotics.more » « less
-
null (Ed.)Abstract The Remote Sensing of Electrification, Lightning, and Mesoscale/Microscale Processes with Adaptive Ground Observations (RELAMPAGO) and Cloud, Aerosol, and Complex Terrain Interactions (CACTI) projects deployed a high-spatiotemporal-resolution radiosonde network to examine environments supporting deep convection in the complex terrain of central Argentina. This study aims to characterize atmospheric profiles most representative of the near-cloud environment (in time and space) to identify the mesoscale ingredients affecting storm initiation and growth. Spatiotemporal autocorrelation analysis of the soundings reveals that there is considerable environmental heterogeneity, with boundary layer thermodynamic and kinematic fields becoming statistically uncorrelated on scales of 1–2 h and 30 km. Using this as guidance, we examine a variety of environmental parameters derived from soundings collected within close proximity (30 km in space and 30 min in time) of 44 events over 9 days where the atmosphere either: 1) supported the initiation of sustained precipitating convection, 2) yielded weak and short-lived precipitating convection, or 3) produced no precipitating convection in disagreement with numerical forecasts from convection-allowing models (i.e., Null events). There are large statistical differences between the Null event environments and those supporting any convective precipitation. Null event profiles contained larger convective available potential energy, but had low free-tropospheric relative humidity, higher freezing levels, and evidence of limited horizontal convergence near the terrain at low levels that likely suppressed deep convective growth. We also present evidence from the radiosonde and satellite measurements that flow–terrain interactions may yield gravity wave activity that affects CI outcome.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1242/jeb.243558
