Thesis (Ph. D.)--University of Hong Kong, 2001. / Includes bibliographical references.

Diss. (sammanfattning) Stockholm : Karolinska institutet, 2009. / Härtill 4 uppsatser.

Maneuvering through 3D structures nimbly is pivotal to the advancement of legged locomotion. However, few methods have been developed that can generate 3D gaits in those terrains and fewer if none can be generalized to control dynamic maneuvers. In this thesis, foot placement planning for dynamic locomotion traversing irregular terrains is explored in three dimensional space. Given boundary values of the center of mass' apexes during the gait, sagittal and lateral Phase Plane trajectories are predicted based on multi-contact and inverted pendulum dynamics. To deal with the nonlinear dynamics of the contact motions and their dimensionality, we plan a geometric surface of motion beforehand and rely on numerical integration to solve the models. In particular, we combine multi-contact and prismatic inverted pendulum models to resolve feet transitions between steps, allowing to produce trajectory patterns similar to those observed in human locomotion. Our contributions lay in the following points: (1) the introduction of non planar surfaces to characterize the center of mass' geometric behavior; (2) an automatic gait planner that simultaneously resolves sagittal and lateral feet placements; (3) the introduction of multi-contact dynamics to smoothly transition between steps in the rough terrains. Data driven methods are powerful approaches in absence of accurate models. These methods rely on experimental data for trajectory regression and prediction. Here, we use regression tools to plan dynamic locomotion in the Phase Space of the robot's center of mass and we develop nonlinear controllers to accomplish the desired plans with accuracy and robustness. In real robotic systems, sensor noise, simplified models and external disturbances contribute to dramatic deviations of the actual closed loop dynamics with respect to the desired ones. Moreover, coming up with dynamic locomotion plans for bipedal robots and in all terrains is an unsolved problem. To tackle these challenges we propose here two robust mechanisms: support vector regression for data driven model fitting and contact planning, and trajectory based sliding mode control for accuracy and robustness. First, support vector regression is utilized to learn the data set obtained through numerical simulations, providing an analytical solution to the nonlinear locomotion dynamics. To approximate typical Phase Plane behaviors that contain infinite slopes and loops, we propose to use implicit fitting functions for the regression. Compared to mainstream explicit fitting methods, our regression method has several key advantages: 1) it models high dimensional Phase Space states by a single unified implicit function; 2) it avoids trajectory over-fitting; 3) it guarantees robustness to noisy data. Finally, based on our regression models, we develop contact switching plans and robust controllers that guarantee convergence to the desired trajectories. Overall, our methods are more robust and capable of learning complex trajectories than traditional regression methods and can be easily utilized to develop trajectory based robust controllers for locomotion. Various case studies are analyzed to validate the effectiveness of our methods including single and multi step planning in a numerical simulation and swing foot trajectory control on our Hume bipedal robot. / text

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Two Australian frogs were introduced to New Zealand over 100 years ago. Since their introduction they have become widespread and well established with Litoria ewingii being more prevalent in alpine and cooler areas of New Zealand, while Litoria raniformis is found in more temperate coastal areas. Very little physiological data exists for these frogs and aside from their distribution not much is known about them in New Zealand. Thus the effects of thermal acclimation and temperature change on respiration and locomotion were examined in these two exotic frogs. The more terrestrial and alpine dwelling L. ewingii was found to be able to thermally acclimate its respiration performance, where respiration was highest when acclimation temperature matched test temperature. It was also able to thermally acclimate its locomotory performance, jumping significantly further at lower temperatures, however, acclimation to high temperatures impacted its jump performance at cold temperatures. The frog L. raniformis was found to only be able to thermally acclimate its respiration and locomotion to high temperatures, as performance at low temperatures was often poor. The data shows that L. ewingii is a cold temperate frog rather than a warm habitat frog, while L. raniformis is an animal adapted to warm temperatures. From this we can begin to see the effect that temperature has on the physiology of these two exotic frogs and the major role that temperature may be playing in driving the differences seen in the distribution of these two species in New Zealand.

Fishes are the most speciose group of living vertebrates, making up more than half of extant vertebrate diversity. They have evolved a wide array of swimming modes and body forms, including the batoid elasmobranchs, the dorsoventrally flattened skates and rays, which swim via oscillations or undulations of a broad pectoral fin disc. In this work I offer insights into locomotion by an undulatory batoid, freshwater stingray Potamotrygon orbignyi (Castelnau, 1855), combining studies of live animals, physical models, and preserved specimens. In Chapter 1, I quantify the three-dimensional kinematics of the P. orbignyi pectoral fin during undulatory locomotion, analyzing high-speed video to reconstruct three-dimensional pectoral fin motions. A relatively small portion (~25%) of the pectoral fin undulates with significant amplitude during swimming. To swim faster, stingrays increase the frequency, not the amplitude of propulsive motions, similar to the majority of studied fish species. Intermittently during swimming, a sharp, concave-down lateral curvature occurred at the fin margin; as the fin was cupped against the pressure of fluid flow this curvature is likely to be actively controlled. Chapter 2 employs a simple physical model of an undulating fin to examine the ground effects that stingrays may experience when swimming near a substrate. Previous research considering static air- and hydrofoils indicated that near-substrate locomotion offers a benefit to propulsion. Depending on small variations in swimming kinematics, undulating fins can swim faster near a solid boundary, but can also experience significant increases (~25%) in cost-of-transport. In Chapter 3, I determine how pectoral and pelvic fin locomotion are combined in P. orbignyi during augmented punting, a hybrid of pectoral and pelvic fin locomotion sometimes employed as stingrays move across a substrate. The timing of pectoral and pelvic fin motions is linked, indicating coordination of thrust production. Chapter 4 discusses pectoral fin structure and morphological variations within the fin, correlating morphology with the swimming kinematics observed in Chapter 1. Passive and active mechanisms may stiffen the anterior fin to create the stable leading edge seen during swimming; stingrays have converged on several structural features (fin ray segmentation and branching) shared by actinopterygian fishes.

Biological research over the past several decades has elucidated some of the mechanisms behind highly mobile, efficient, and robust locomotion in insects such as the cockroach. Roboticists have used this information to create biologically-inspired machines capable of running, jumping, and climbing robustly over a variety of terrains. To date, little work has been done to develop an at-scale insect-inspired robot capable of similar feats, due to limitations in fabrication, actuation, and electronics integration at small scales. This thesis addresses these challenges, focusing on the mechanical design and fabrication of a sub-2g walking robot, the Harvard Ambulatory MicroRobot (HAMR). The development of HAMR includes modeling and parameter selection for a two degree of freedom leg powertrain that enables locomotion. In addition, a design inspired by pop-up books that enables fast and repeatable assembly of the miniature walking robot is presented. Finally, a method to drive HAMR resulting in speeds up to 37cm/s is presented, along with simple control schemes. / Engineering and Applied Sciences

published_or_final_version / Chemistry / Doctoral / Doctor of Philosophy

No description available.

The stopping of an earlier intended action is best explained in a race between a go process and a stop process (Logan & Cowan, 1984). The finish line, to which each process races, has been likened to a point of no return, specifically one that marks the onset of a final ballistic (unstoppable) process. Of note is the typical relation of reduced go probabilities and faster go latencies at shorter signal onset asynchronies (SOAs). (The SOA is the time interval between presentation of the go signal and presentation of the stop signal.) We report, in some cases, sub-maximal surface electromyograms (EMGs) at onset when trying to stop a maximal speeded action. These data indicate reduced synaptic drive to reach the motor pools as a result of earlier stopping effects and, as such, hold important implications for a theory of control. First, we interpret these data to suggest that the point of no return is phantom. Sub-maximal EMGs indicate a point in the control stream beyond which some EMG will be later observed but, importantly, they fail to mark the onset of a final ballistic process if, once breached, the same process remains subject to further effects of stopping. The alternative interpretation, however, that of a final ballistic process that receives sub-maximal input which results in sub-maximal output (i.e., EMG onset) cannot be ruled out from these data. We used the Hoffmann (H) reflex to probe further the mechanism of control for stopping a voluntary action. The H-reflex, an involuntary reflex that is taken as an index of spinal control, is relevant to the control of stopping because it is typically facilitated a short time before EMG onset. In other words, it provides a window of control within which a final ballistic process would otherwise be expected to locate. Thus, we interpret the effects of stopping on the H-reflex before EMG onset as strong evidence against a final ballistic process. Second, while the race model can explain the relation between the go probabilities, the go latencies and the SOAs, it fails to explain the sub-maximal EMG onsets that describe that same action in some cases. We submit a mechanism of excitatory-inhibitory interaction at all times up to the motor pool to explain both sets of empirical data. The viability of this theory is demonstrated using computer analyses.