Recent Progress in the Physical Principles of Dynamic Ground Self-Righting

Abstract

Animals and robots must self-right on the ground after overturning. Biology research described various strategies and motor patterns in many species. Robotics research devised many strategies. However, we do not well understand how the physical principles of how the need to generate mechanical energy to overcome the potential energy barrier governs behavioral strategies and 3-D body rotations given the morphology. Here I review progress on this which I led studying cockroaches self-righting on level, flat, solid, low-friction ground, by integrating biology experiments, robotic modeling, and physics modeling. Animal experiments using three species (Madagascar hissing, American, and discoid cockroaches) found that ground self-righting is strenuous and often requires multiple attempts to succeed. Two species (American and discoid cockroaches) often self-right dynamically, using kinetic energy to overcome the barrier. All three species use and often stochastically transition across diverse strategies. In these strategies, propelling motions are often accompanied by perturbing motions. All three species often display complex yet stereotyped body rotation. They all roll more in successful attempts than in failed ones, which lowers the barrier, as revealed by a simplistic 3-D potential energy landscape of a rigid body self-righting. Experiments of an initial robot self-righting via rotation about a fixed axis revealed that, the longer and faster appendages push, the more mechanical energy can be gained to overcome the barrier. However, the cockroaches rarely achieve this. To further understand the physical principles of strenuous ground self-righting, we focused on the discoid cockroach's leg-assisted winged self-righting. In this strategy, wings propel against the ground to pitch the body up but are unable to overcome the highest pitch barrier. Meanwhile, legs flail in the air to perturb the body sideways to self-right via rolling. Experiments using a refined robot and an evolving 3-D potential energy landscape revealed that, although wing propelling cannot generate sufficient kinetic energy to overcome the highest pitch barrier, it reduces the barrier to allow small kinetic energy from the perturbing legs to probabilistically overcome the barrier to self-right via rolling. Thus, only by combining propelling and perturbing can self-righting be achieved, when it is so strenuous; this physical constraint leads to the stereotyped body rotation. Finally, multi-body dynamics simulation and template modeling revealed that the animal's substantial randomness in wing and leg motions help it by chance to find good coordination, which accumulates more mechanical energy to overcome the barrier, thus increasing the likelihood of self-righting.