Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles

Andrew Jansen, Kevin Sebastian Luck, Joseph Campbell, Heni Ben Amor, Daniel M. Aukes

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations

Abstract

This work explores the physical implications of variation in fin shape and orientation that correspond to ontogenetic changes observed in sea turtles. Through the development of a bio-inspired robotic platform - CTurtle - we show that (1) these ontogenetic changes apparently occupy stable extrema for either load-bearing or high-velocity movement, and (2) mimicry of these variations in a robotic system confer greater load-bearing capacity and energy efficiency, at the expense of velocity (or vice-versa). A possible means of adapting to load conditions is also proposed. We endeavor to provide these results as part of a theoretical framework integrating biological inquiry and inspiration within an iterative design cycle based on laminate robotics.

Original languageEnglish (US)
Pages (from-to)216-229
Number of pages14
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10384 LNCS
DOIs
StatePublished - 2017
Event6th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2017 - Stanford, United States
Duration: Jul 26 2017Jul 28 2017

Keywords

  • Bio-inspired robots
  • Design
  • Fabrication
  • Granular media
  • Kinematics
  • Laminates
  • Locomotion
  • Mobile robots
  • Rapid-prototyping
  • Turtles

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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