Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

Jayaram, Kaushik; Shum, Jennifer; Castellanos, Samantha; Helbling, E. Farrell; Wood, Robert J.

doi:10.48550/arxiv.2003.03337

Cited by 2 publications

(2 citation statements)

References 28 publications

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“…The notion that compensation to wing damage is a manifestation of adaptive changes in gain has important implications for the design of fault-tolerant insect-scale robots (44). For instance, it could inspire the design of closed-loop control algorithms for flapping robots with on-board vision.…”

Section: Discussionmentioning

confidence: 99%

Flies trade off stability and performance via adaptive compensation to wing damage

et al. 2022

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Physical injury often impairs mobility, which can have dire consequences for survival in animals. Revealing mechanisms of robust biological intelligence to prevent system failure can provide critical insights into how complex brains generate adaptive movement and inspiration to design fault-tolerant robots. For flying animals, physical injury to a wing can have severe consequences, as flight is inherently unstable. Using a virtual reality flight arena, we studied how flying fruit flies compensate for damage to one wing. By combining experimental and mathematical methods, we show that flies compensate for wing damage by corrective wing movement modulated by closed-loop sensing and robust mechanics. Injured flies actively increase damping and, in doing so, modestly decrease flight performance but fly as stably as uninjured flies. Quantifying responses to injury can uncover the flexibility and robustness of biological systems while informing the development of bio-inspired fault-tolerant strategies.

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Section: Discussionmentioning

confidence: 99%

Flies trade off stability and performance via adaptive compensation to wing damage

et al. 2022

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“…Carefully engineered robot designs have been shown to simplify the downstream computational problems of grasping and manipulation [6]- [10]. While robot designs have drawn direct inspirations from reallife organisms [14]- [16], it remains an immense challenge in dealing with numerous design parameters and practical constraints. Optimization-based methods have been used for automating the co-design of morphology and control.…”

Section: Related Workmentioning

confidence: 99%

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Pan¹,

Garg²,

Anandkumar³

et al. 2020

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Evolution in nature illustrates that the creatures' biological structure and their sensorimotor skills adapt to the environmental changes for survival. Likewise, the ability to morph and acquire new skills can facilitate an embodied agent to solve tasks of varying complexities. In this work, we introduce a data-driven approach where effective hand designs naturally emerge for the purpose of grasping diverse objects. Jointly optimizing morphology and control imposes computational challenges since it requires constant evaluation of a black-box function that measures the performance of a combination of embodiment and behavior. We develop a novel Bayesian Optimization algorithm that efficiently co-designs the morphology and grasping skills jointly through learned latentspace representations. We design the grasping tasks based on a taxonomy of three human grasp types: power grasp, pinch grasp, and lateral grasp. Through experimentation and comparative study, we demonstrate the effectiveness of our approach in discovering robust and cost-efficient hand morphologies for grasping novel objects. https://xinleipan.github.io/ emergent_morphology/ 1 NVIDIA,

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Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

Cited by 2 publications

References 28 publications

Flies trade off stability and performance via adaptive compensation to wing damage

Flies trade off stability and performance via adaptive compensation to wing damage

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

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