Passive Variable Compliance for Dynamic Legged Robots

Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a tunable stiffness leg for effective gait control. To date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. In this thesis we present an overview of tunable stiffness legs, and introduce a simple leg model that captures the spatial compliance of our tunable leg. We present experimental evidence supporting the advantages of tunable stiffness legs, and implement what we believe is the first autonomous dynamic legged robot capable of automatic leg stiffness adjustment. Finally we discuss design objectives, material considerations, and manufacturing methods that lead to robust passive compliant legs

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environmental conditions. However, to date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This paper describes a new design of a ”structurally controlled variable stiffness” leg for a hexapedal running robot. This new leg improves on previous designs’ performance and enables runtime modification of leg stiffness in a small, lightweight, and rugged package. Modeling and leg test experiments are presented that characterize the improvement in stiffness range, energy storage, and dynamic coupling properties of these legs. We conclude that this variable stiffness leg design is now ready for implementation and testing on a dynamical running robot

DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING

Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a variable stiffness leg to tune the natural frequency of the system for effective gait control. In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new approach specifically for autonomous dynamic legged locomotion. We introduce a simple leg model that captures the spatial compliance of the tunable leg in three dimensions. Lastly, we present the design and manufacture of the multi-directional variable stiffness legs, and experimentally validate their correspondence to the proposed model

Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running

Humans and animals adapt their leg impedance during running for both internal (e.g., loading) and external (e.g., surface) changes. To date, the mechanical complexity of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This work describes the design of novel, structure-controlled stiffness legs for a hexapedal running robot to enable runtime modification of leg stiffness in a small, lightweight, and rugged package. As part of this investigation, we also study the effect of varying leg stiffness on the performance of a dynamical running robot. For more information: Kod*La

Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion

Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload configurations (0 kg and 0.91 kg). We found that leg stiffness, surface compliance, and payload had a significant impact on the robot’s final optimized speed and efficiency. These results document the value and efficacy of what we believe is the first autonomous dynamic legged robot capable of runtime leg stiffness adjustment. For more information: Kod*La

X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks

We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals. This document describes the X-RHex architecture and design, with a particular focus on the new ability of this robot to carry modular payloads as a laboratory on legs. X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, and search and rescue applications. Comparisons with previous RHex platforms are presented throughout, with preliminary tests indicating that the locomotive capabilities of X-RHex can meet or exceed the previous platforms. With the additional payload capabilities of X-RHex, we claim it to be the first robot of its size to carry a fully programmable GPU for fast, parallel sensor processing

A Resilient, Untethered Soft Robot

A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65-meter-long soft body with modified Pneu-Net actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to interact with during operation, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.Chemistry and Chemical Biolog

A Spatiotemporal Assessment of Extreme Cold in Northwestern North America Following the Unidentified 1809 CE Volcanic Eruption

Two large volcanic eruptions contributed to extreme cold temperatures during the early 1800s, one of the coldest phases of the Little Ice Age. While impacts from the massive 1815 Tambora eruption in Indonesia are relatively well-documented, much less is known regarding an unidentified volcanic event around 1809. Here, we describe the spatial extent, duration, and magnitude of cold conditions following this eruption in northwestern North America using a high-resolution network of tree-ring records that capture past warm-season temperature variability. Extreme and persistent cold temperatures were centered around the Gulf of Alaska, the adjacent Wrangell-St Elias Mountains, and the southern Yukon, while cold anomalies diminished with distance from this core region. This distinct spatial pattern of temperature anomalies suggests that a weak Aleutian Low and conditions similar to a negative phase of the Pacific Decadal Oscillation could have contributed to regional cold extremes after the 1809 eruption

Cryptic Patterning of Avian Skin Confers a Developmental Facility for Loss of Neck Feathering

Vertebrate skin is characterized by its patterned array of appendages, whether feathers, hairs, or scales. In avian skin the distribution of feathers occurs on two distinct spatial levels. Grouping of feathers within discrete tracts, with bare skin lying between the tracts, is termed the macropattern, while the smaller scale periodic spacing between individual feathers is referred to as the micropattern. The degree of integration between the patterning mechanisms that operate on these two scales during development and the mechanisms underlying the remarkable evolvability of skin macropatterns are unknown. A striking example of macropattern variation is the convergent loss of neck feathering in multiple species, a trait associated with heat tolerance in both wild and domestic birds. In chicken, a mutation called Naked neck is characterized by a reduction of body feathering and completely bare neck. Here we perform genetic fine mapping of the causative region and identify a large insertion associated with the Naked neck trait. A strong candidate gene in the critical interval, BMP12/GDF7, displays markedly elevated expression in Naked neck embryonic skin due to a cis-regulatory effect of the causative mutation. BMP family members inhibit embryonic feather formation by acting in a reaction-diffusion mechanism, and we find that selective production of retinoic acid by neck skin potentiates BMP signaling, making neck skin more sensitive than body skin to suppression of feather development. This selective production of retinoic acid by neck skin constitutes a cryptic pattern as its effects on feathering are not revealed until gross BMP levels are altered. This developmental modularity of neck and body skin allows simple quantitative changes in BMP levels to produce a sparsely feathered or bare neck while maintaining robust feather patterning on the body