Reverse-engineering the locomotion of a stem amniote

Nyakatura, John A.; Melo, Kamilo; Horvat, Tomislav; Karakasiliotis, Kostas; Allen, Vivian; Andikfar, Amir; Andrada, Emanuel; Arnold, Patrick; Lauströer, Jonas; Hutchinson, John R.; Fischer, Martin S.; Ijspeert, Auke Jan

doi:10.1038/s41586-018-0851-2

Cited by 177 publications

(194 citation statements)

References 38 publications

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“…Furthermore, in the feeding system, the open-close jaw excursions analyzed here are by far the largest rotational components of jaw movement (Buschang et al, 2000;Davis, 2014;Iriarte-Díaz et al, 2011;Menegaz et al, 2015). In the limbs, abduction/adduction and long-axis rotation can be quite high (Baier and Gatesy, 2013;Fischer et al, 2010;Kambic et al, 2014Kambic et al, , 2015Nyakatura et al, 2010Nyakatura et al, , 2019Schmidt and Fischer, 2010), especially in sprawling tetrapods (Baier and Gatesy, 2013;Fischer et al, 2010;Nyakatura et al, 2019). Thus, comparisons of jaw and limb excursion patterns in these anatomical planes are unlikely to alter the major findings of this study.…”

Section: Discussionmentioning

confidence: 81%

Joint angular excursions during cyclical behaviors differ between tetrapod feeding and locomotor systems

Granatosky

McElroy

Laird

et al. 2019

Journal of Experimental Biology

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Tetrapod musculoskeletal diversity is usually studied separately in feeding and locomotor systems. However, comparisons between these systems promise important insight into how natural selection deploys the same basic musculoskeletal toolkitconnective tissues, bones, nerves and skeletal muscleto meet the differing performance criteria of feeding and locomotion. In this study, we compare average joint angular excursions during cyclic behaviorschewing, walking and runningin a phylogenetic context to explore differences in the optimality criteria of these two systems. Across 111 tetrapod species, average limb-joint angular excursions during cyclic locomotion are greater and more evolutionarily labile than those of the jaw joint during cyclic chewing. We argue that these findings reflect fundamental functional dichotomies between tetrapod locomotor and feeding systems. Tetrapod chewing systems are optimized for precise application of force over a narrower, more controlled and predictable range of displacements, the principal aim being to fracture the substrate, the size and mechanical properties of which are controlled at ingestion and further reduced and homogenized, respectively, by the chewing process. In contrast, tetrapod limbed locomotor systems are optimized for fast and energetically efficient application of force over a wider and less predictable range of displacements, the principal aim being to move the organism at varying speeds relative to a substrate whose geometry and mechanical properties need not become more homogeneous as locomotion proceeds. Hence, the evolution of tetrapod locomotor systems has been accompanied by an increasing diversity of limbjoint excursions, as tetrapods have expanded across a range of locomotor substrates and environments.

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Section: Discussionmentioning

confidence: 81%

Joint angular excursions during cyclical behaviors differ between tetrapod feeding and locomotor systems

Granatosky

McElroy

Laird

et al. 2019

Journal of Experimental Biology

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“…[209,210] Wearable and skin-mountable sensors could be helpful in robophysical models to provide insight in the neuromechanics of locomotion. [211][212][213][214] Neuromechanics pertains to multiple physiological systems interacting to generate behavior in living organisms (Figure 14a). Attempting to decipher the neuromechanics of the locomotion involves the capturing of neuronal activity, the dynamics of the musculo-skeletal system, as well as the interaction of the body with the external environment.…”

Section: Soft Robotics and Neuromechanicsmentioning

confidence: 99%

Wearable and Stretchable Strain Sensors: Materials, Sensing Mechanisms, and Applications

Souri¹,

Banerjee

Jusufi

et al. 2020

Advanced Intelligent Systems

407

289

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Recent advances in the design and implementation of wearable resistive, capacitive, and optical strain sensors are summarized herein. Wearable and stretchable strain sensors have received extensive research interest due to their applications in personalized healthcare, human motion detection, human–machine interfaces, soft robotics, and beyond. The disconnection of overlapped nanomaterials, reversible opening/closing of microcracks in sensing films, and alteration of the tunneling resistance have been successfully adopted to develop high‐performance resistive‐type sensors. On the other hand, the sensing behavior of capacitive‐type and optical strain sensors is largely governed by their geometrical changes under stretching/releasing cycles. The sensor design parameters, including stretchability, sensitivity, linearity, hysteresis, and dynamic durability, are comprehensively discussed. Finally, the promising applications of wearable strain sensors are highlighted in detail. Although considerable progress has been made so far, wearable strain sensors are still in their prototype stage, and several challenges in the manufacturing of integrated and multifunctional strain sensors should be yet tackled.

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“…Legged robots offer the possibility of negotiating challenging environments and thus, are versatile platforms for various types of terrains [1]. In research and industry, there is an emphasis on replicating nature to improve the hardware design and algorithmic approach of robotic systems [2], [3]. Even with extensive research, matching the locomotion skills of conventional legged robots to their natural counterparts remains elusive.…”

Section: Introductionmentioning

confidence: 99%

Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization

Bjelonic

Sankar

Bellicoso

et al. 2020

IEEE Robot. Autom. Lett.

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Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging terrain. In this paper, we present an online trajectory optimization framework for wheeled quadrupedal robots capable of executing hybrid walking-driving locomotion strategies. By breaking down the optimization problem into a wheel and base trajectory planning, locomotion planning for high dimensional wheeled-legged robots becomes more tractable, can be solved in real-time on-board in a model predictive control fashion, and becomes robust against unpredicted disturbances. The reference motions are tracked by a hierarchical whole-body controller that sends torque commands to the robot. Our approach is verified on a quadrupedal robot that is fully torquecontrolled, including the non-steerable wheels attached to its legs. The robot performs hybrid locomotion with different gait sequences on flat and rough terrain. In addition, we validated the robotic platform at the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, where the robot rapidly maps, navigates, and explores dynamic underground environments.

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Reverse-engineering the locomotion of a stem amniote

Cited by 177 publications

References 38 publications

Joint angular excursions during cyclical behaviors differ between tetrapod feeding and locomotor systems

Joint angular excursions during cyclical behaviors differ between tetrapod feeding and locomotor systems

Wearable and Stretchable Strain Sensors: Materials, Sensing Mechanisms, and Applications

Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization

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