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 proceedingConference contribution

1 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 languageEnglish (US)
Title of host publicationIntegrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857304
DOIs
StatePublished - 2015
EventASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015 - Colorado Springs, United States
Duration: Sep 21 2015Sep 23 2015

Publication series

NameASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015
Volume2

Other

OtherASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2015
CountryUnited States
CityColorado Springs
Period9/21/159/23/15

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Control and Systems Engineering
  • Mechanics of Materials
  • Building and Construction

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