Righting kinematics in beetles (Insecta: Coleoptera)

Frantsevich, Leonid

doi:10.1016/j.asd.2004.05.007

Cited by 39 publications

(46 citation statements)

References 20 publications

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“…The ability of self-righting is crucial for animals with hard shells ( Frantsevich & Mokrushov 1980;Faisal & Matheson 2001;Frantsevich 2004;Uhrin et al 2005), e.g. beetles and turtles.…”

Section: Introductionmentioning

confidence: 99%

Geometry and self-righting of turtles

2007

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Terrestrial animals with rigid shells face imminent danger when turned upside down. A rich variety of righting strategies of beetle and turtle species have been described, but the exact role of the shell's geometry in righting is so far unknown. These strategies are often based on active mechanisms, e.g. most beetles selfright via motion of their legs or wings; flat, aquatic turtles use their muscular neck to flip back. On the other hand, highly domed, terrestrial turtles with short limbs and necks have virtually no active control: here shape itself may serve as a fundamental tool. Based on field data gathered on a broad spectrum of aquatic and terrestrial turtle species we develop a geometric model of the shell. Inspired by recent mathematical results, we demonstrate that a simple mechanical classification of the model is closely linked to the animals' righting strategy. Specifically, we show that the exact geometry of highly domed terrestrial species is close to optimal for self-righting, and the shell's shape is the predominant factor of their ability to flip back. Our study illustrates how evolution solved a far-from-trivial geometrical problem and equipped some turtles with monostatic shells: beautiful forms, which rarely appear in nature otherwise.

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“…The ability of self-righting is crucial for animals with hard shells ( Frantsevich & Mokrushov 1980;Faisal & Matheson 2001;Frantsevich 2004;Uhrin et al 2005), e.g. beetles and turtles.…”

Section: Introductionmentioning

confidence: 99%

Geometry and self-righting of turtles

2007

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“…Even when falling upside-down, insects can right themselves using their legs and wings and quickly return to the air [31].…”

Section: Surviving and Exploiting Collisionsmentioning

confidence: 99%

“…The gravity-based self-recovery strategy presented above is only a first step and imposes severe limitations on the flight capabilities of the robot and the collisions it can recover from. As the environment gets more complicated, active recovery systems (mimicking the legs used by insects to recover when they fall on their backs [31]) will be required to push away from obstacles before taking flight.…”

Section: Surviving and Exploiting Collisionsmentioning

confidence: 99%

Aerial Locomotion in Cluttered Environments

Floreano¹,

Zufferey²,

Klaptocz³

et al. 2016

Springer Tracts in Advanced Robotics

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Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in the robot's surroundings, including the ground, with minimal computation, mass, and energy requirements; a flexible and protective framework capable of withstanding collisions and even using collisions to learn about the properties of the surroundings when light is not available; a mechanism for temporarily perching to vertical structures in order to monitor the environment or communicate with other robots before taking off again; and a self-deployment mechanism for getting in the air and perform repetitive jumps or glided flight. We conclude the chapter by suggesting future avenues for integration of multiple features within the same robotic platform.

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“…The first principle (A) consists of using arms or levers that are moved actively after landing to upright the structure, as it is implemented in the "minimalist jumping robot" (figure 2.C) and is conceptually similar to the active uprighting of insects as it is described in (Faisal, 2001;Frantsevich, 2004). This principle offers the advantage of being able to accomplish the uprighting movement on smooth surfaces as well as on rough terrain where the uprighting movement may be obstructed.…”

Section: Uprighting Mechanismmentioning

confidence: 99%

“…The locomotion strategy of many small animals is therefore to jump, upright themselves after landing, reorient and jump again. Different mechanisms and behaviors have been described that allow them to do this (Faisal, 2001;Frantsevich, 2004).…”

Section: Introductionmentioning

confidence: 99%

Steerable miniature jumping robot

et al. 2009

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Jumping is used in nature by many small animals to locomote in cluttered environments or in rough terrain. It offers small systems the benefit of overcoming relatively large obstacles at a low energetic cost. In order to be able to perform repetitive jumps in a given direction, it is important to be able to upright after landing, steer and jump again. In this article, we review and evaluate the uprighting and steering principles of existing jumping robots and present a novel spherical robot with a mass of 14g and a size of 18cm that can jump up to 62cm at a take-off angle of 75 • , recover passively after landing, orient itself, and jump again. We describe its design details and fabrication methods, characterize its jumping performance, and demonstrate the remote

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Righting kinematics in beetles (Insecta: Coleoptera)

Cited by 39 publications

References 20 publications

Geometry and self-righting of turtles

Geometry and self-righting of turtles

Aerial Locomotion in Cluttered Environments

Steerable miniature jumping robot

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