Kinetic energy fluctuation-driven locomotor transitions on potential energy landscapes of beam obstacle traversal and self-righting

Despite contending with constraints imposed by the environment, morphology, and physiology, animals move well by physically interactingwith the environment to use and transition between modes such as running, climbing, and self-righting. By contrast, robots struggle to do so in real world. Understanding the principles of how locomotor transitions emerge from constrained physical interaction is necessary for robots to move robustly using similar strategies. Recent studies discovered that discoid cockroaches use and transition between diverse locomotor modes to traverse beams and self-right on ground. For both systems, animals probabilistically transitioned between modes via multiple pathways, while its self-propulsion created kinetic energy fluctuation. Here, we seek mechanistic explanations for these observations by adopting a physics-based approach that integrates biological and robotic studies. We discovered that animal and robot locomotor transitions during beam obstacle traversal and ground self-righting are barrier-crossing transitions on potential energy landscapes. Whereas animals and robot traversed stiff beams by rolling their body betweenbeam, they pushed across flimsy beams, suggesting a concept of terradynamic favorability where modes with easier physical interaction are more likely to occur. Robotic beam traversal revealed that, system state either remains in a favorable mode or transitions to one when energy fluctuation is comparable to the transition barrier. Robotic self-righting transitions occurred similarly and revealed that changing system parameters lowers barriers over which comparable fluctuation can induce transitions. Thetransitionsof animalsin both systems mostly occurred similarly, but sensory feedback may facilitate its beam traversal. Finally, we developed a method to measure animal movement across large spatiotemporal scales in a terrain treadmill.Comment: arXiv admin note: substantial text overlap with arXiv:2006.1271

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

This paper develops a comparative framework for the design of an actuated inertial appendage for planar reorientation. We define the Inertial Reorientation template, the simplest model of this behavior, and leverage its linear dynamics to reveal the design constraints linking a task with the body designs capable of completing it. As practicable inertial appendage designs lead to physical bodies that are generally more complex, we advance a notion of “anchoring” whereby a judicious choice of physical design in concert with an appropriate control policy yields a system whose closed loop dynamics are sufficiently captured by the template as to permit all further design to take place in its far simpler parameter space. This approach is effective and accurate over the diverse design spaces afforded by existing platforms, enabling performance comparison through the shared task space. We analyze examples from the literature and find advantages to each body type, but conclude that tails provide the highest potential performance for reasonable designs. Thus motivated, we build a physical example by retrofitting a tail to a RHex robot and present empirical evidence of its efficacy. For more information: Kod*la

Combining geometric morphometrics and finite element analysis with evolutionary modeling:towards a synthesis

<p>Geometric morphometrics (GM) and finite element analysis (FEA) are increasingly common techniques for the study of form and function. We show how principles of quantitative evolution in continuous phenotypic traits can link the two techniques, allowing hypotheses about the relative importance of different functions to be tested in a phylogenetic and evolutionary framework. Finite element analysis is used to derive quantitative surfaces that describe the comparative performance of different morphologies in a morphospace derived from GM. The combination of two or more performance surfaces describes a quantitative adaptive landscape that can be used to predict the direction morphological evolution would take if a combination of functions was selected for. Predicted paths of evolution also can be derived for hypotheses about the relative importance of multiple functions, which can be tested against evolutionary pathways that are documented by phylogenies or fossil sequences. Magnitudes of evolutionary trade-offs between functions can be estimated using maximum likelihood. We apply these methods to an earlier study of carapace strength and hydrodynamic efficiency in emydid turtles. We find that strength and hydrodynamic efficiency explain about 45% of the variance in shell shape; drift and other unidentified functional factors are necessary to explain the remaining variance. Measurement of the proportional trade-off between shell strength and hydrodynamic efficiency shows that throughout the Cenozoic aquatic turtles generally sacrificed strength for streamlining and terrestrial species favored stronger shells; this suggests that the selective regime operating on small to mid-sized emydids has remained relatively static.</p> <p>SUPPLEMENTAL DATA—Supplemental materials are available for this article for free at <a href="http://www.tandfonline.com/UJVP" target="_blank">www.tandfonline.com/UJVP</a></p> <p>Citation for this article: Polly, P. D., C. T. Stayton, E. R. Dumont, S. E. Pierce, E. J. Rayfield, and K. D. Angielczyk. 2016. Combining geometric morphometrics and finite element analysis with evolutionary modeling: towards a synthesis. Journal of Vertebrate Paleontology. DOI: 10.1080/02724634.2016.1111225.</p