Standing Self-Manipulation for a Legged Robot

On challenging, uneven terrain a legged robot’s open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that can minimize both internal and external torques absent any terrain information. The key to this behavior is a change of basis in torque space that approximates the partially decoupled nature of the two types of disturbances. The new coordinates reveal how to use actuator current measurements as proprioceptive sensors for the approximate gradients of both the internal and external task potential fields, without recourse to further modeling. The behavior is derived using a manipulation framework informed by the dual relationship between a legged robot and a multifingered hand. We implement the reactive posture controller resulting from simple online descent along these proprioceptively sensed gradients on the X-RHex robot to document the significant savings in standing power. For more information: Kod*La

Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots

For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot to operate as a mobile laboratory on legs. In the present paper we will introduce the specification, design and very earliest operational data of Canid, an actively driven compliant-spined quadruped whose completely different morphology and intended dynamical operating point are nevertheless built around exactly the same “Lab on Legs” actuation, computation, and sensing infrastructure. We will review as well, more briefly a second RHex variation, the XRL latform, built using the same components. For more information: Kod*La

Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped

We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot’s “body energy” during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid’s initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits. For more information: Kod*La

Acoustic resonances in microfluidic chips: full-image micro-PIV experiments and numerical simulations

We show that full-image micro-PIV analysis in combination with images of transient particle motion is a powerful tool for experimental studies of acoustic radiation forces and acoustic streaming in microfluidic chambers under piezo-actuation in the MHz range. The measured steady-state motion of both large 5 um and small 1 um particles can be understood in terms of the acoustic eigenmodes or standing ultra-sound waves in the given experimental microsystems. This interpretation is supported by numerical solutions of the corresponding acoustic wave equation.Comment: RevTex, 10 pages, 9 eps figures; NOTE first authors changed his name to S. Melker Hagsater in the published versio

Extra-planar gas in the spiral galaxy NGC 4559

We present 21-cm line observations of the spiral galaxy NGC 4559, made with the Westerbork Synthesis Radio Telescope. We have used them to study the HI distribution and kinematics, the relative amount and distribution of luminous and dark matter in this galaxy and, in particular, the presence of extra-planar gas. Our data do reveal the presence of such a component, in the form of a thick disk, with a mass of 5.9 x 10^8 Mo (one tenth of the total HI mass) and a mean rotation velocity 25-50 km/s lower than that of the thin disk. The extra-planar gas may be the result of galactic fountains but accretion from the IGM cannot be ruled out. With this study we confirm that lagging, thick HI layers are likely to be common in spiral galaxies.Comment: 17 pages, 10 figures. Accepted for publication in A&

The Nature of Composite LINER/HII Galaxies, As Revealed from High-Resolution VLA Observations

A sample of 37 nearby galaxies displaying composite LINER/HII and pure HII spectra was observed with the VLA in an investigation of the nature of their weak radio emission. The resulting radio contour maps overlaid on optical galaxy images are presented here, together with an extensive literature list and discussion of the individual galaxies. Radio morphological data permit assessment of the ``classical AGN'' contribution to the global activity observed in these ``transition'' LINER galaxies. One in five of the latter objects display clear AGN characteristics: these occur exclusively in bulge-dominated hosts.Comment: 31 pages, 27 figures, accepted by ApJ