<p>With
a stable center of mass, pneumatic-aided movement, and the ability to scale
multiple terrain types, the uniquely efficient and lightweight form of spiders
has changed the way we think about robotic design. While the number of papers
on arachnid biomechanics and spider-based biomimetic robots has been increasing
in recent years, the style of analysis and the motion-types analyzed have
barely changed since the 1980s. Current analyses are based on a force plate and
treadmill design, in which the spider is induced into an escape run. This
environmental change can affect the movements of the spider. Here I propose a
novel method of testing the biomechanical and kinematic properties of spiders
using a tank with a built-in sensor matrix which allows for a more natural
environment for the specimens and provides force data from individual legs. The
system detects a minimum force of .0196 N and has a sampling rate of 1,000
samples /second, which allows for the analysis of forces during the step. <i>Aphonopelma
seemanni</i>, a tarantula commonly used in such research, but whose forces
during movement have to date not been analyzed, was recorded walking across the
matrix, and the forces, step patterns, joint angles, and center of mass
deviations were recorded. Walking indicated significantly different step
pattern traits than current literature, and forces per leg (.07281 N±.0235) recorded were much smaller than expected in
comparison to other spiders. Statistical analysis also indicated no changes in walking
movement over a range of temperatures, which also varies from literature. These
findings indicate that further research on spiders should be done with respect
to walking gaits in order to improve upon current biomimetic models. </p>
<br>
| Identifer | oai:union.ndltd.org:purdue.edu/oai:figshare.com:article/12245168 |
| Date | 04 May 2020 |
| Creators | Dana L Moryl (8796875) |
| Source Sets | Purdue University |
| Detected Language | English |
| Type | Text, Thesis |
| Rights | CC BY 4.0 |
| Relation | https://figshare.com/articles/A_STUDY_ON_i_APHONOPELMA_SEEMANI_i_BIOMECHANICS_OF_MOTION_WITH_EMPHASIS_ON_POTENTIAL_FOR_BIOMIMETIC_ROBOTICS_DESIGN/12245168 |
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