The Experts below are selected from a list of 288 Experts worldwide ranked by ideXlab platform
Gregory S. Chirikjian - One of the best experts on this subject based on the ideXlab platform.
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Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles.
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments such as earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles such as boulders and felled trees that lack "anchor points" for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (3D) (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal. The combination of Lateral Oscillation and body compliance to form a large, reliable base of support may be useful for snakes and snake robots to traverse diverse 3-D environments with large, smooth obstacles.
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Lateral Oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles that lack anchor points for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal.
Sean Gart - One of the best experts on this subject based on the ideXlab platform.
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Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles.
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments such as earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles such as boulders and felled trees that lack "anchor points" for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (3D) (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal. The combination of Lateral Oscillation and body compliance to form a large, reliable base of support may be useful for snakes and snake robots to traverse diverse 3-D environments with large, smooth obstacles.
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Lateral Oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles that lack anchor points for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal.
Jin Seob Kim - One of the best experts on this subject based on the ideXlab platform.
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Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles.
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments such as earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles such as boulders and felled trees that lack "anchor points" for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (3D) (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal. The combination of Lateral Oscillation and body compliance to form a large, reliable base of support may be useful for snakes and snake robots to traverse diverse 3-D environments with large, smooth obstacles.
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Lateral Oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles that lack anchor points for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal.
Thomas W. Mitchel - One of the best experts on this subject based on the ideXlab platform.
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Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles.
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments such as earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles such as boulders and felled trees that lack "anchor points" for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (3D) (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal. The combination of Lateral Oscillation and body compliance to form a large, reliable base of support may be useful for snakes and snake robots to traverse diverse 3-D environments with large, smooth obstacles.
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Lateral Oscillation and body compliance help snakes and snake robots stably traverse large, smooth obstacles
Integrative and comparative biology, 2020Co-Authors: Sean Gart, Thomas W. Mitchel, Jin Seob Kim, Gregory S. ChirikjianAbstract:Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles that lack anchor points for gripping or bracing. First, we discovered that the generalist variable kingsnake combines Lateral Oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to a snake robot and systematically tested its performance traversing large steps with variable heights to further understand stability principles. The robot rapidly and stably traversed steps nearly as high as a third of its body length. As step height increased, the robot rolled more frequently to the extent of flipping over, reducing traversal probability. The absence of such failure in the snake with a compliant body inspired us to add body compliance to the robot. With better surface contact, the compliant body robot suffered less roll instability and traversed high steps at higher probability, without sacrificing traversal speed. Our robot traversed large step-like obstacles more rapidly than most previous snake robots, approaching that of the animal.
Orestes Estevam Alarcon - One of the best experts on this subject based on the ideXlab platform.
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glossiness distribution over the surface of stoneware floor tiles due to the polishing process
Journal of Materials Science, 2007Co-Authors: F J P Sousa, Walter Lindolfo Weingaertner, Nerio Vicente, Orestes Estevam AlarconAbstract:The industrial process for polishing floor tiles requires several polishing stages in order to produce the desirable glossiness. Works on floor tile polishing with focus on the distribution of glossiness still lack in literature. The present work intends to measure and analyze the distribution of glossiness over the surface of porcelain stoneware tiles polished using forward speed of 7.5 cm s−1 and Lateral Oscillation frequency and amplitude of 0.2 s−1 and 12 cm. The glossiness pattern generated by the polishing process over the surface of six tiles were presented in grey-scale graphics, where each pixel was univocally associated with a portion of the tile surface. Correlations between the glossiness pattern found and the polishing kinematics were developed. Significant differences of glossiness were registered either between tiles polished under the same polishing condition, or within the surface of the same tile, between adjacent regions. The use of Lateral Oscillation motion caused the glossiness pattern over the tile surface to follow a waveform pattern, and two corroborative hypotheses were made in order to explain such fact, considering the light-surface interaction as well as the overlapping of trajectories of adjacent polishing heads.
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kinematics of a single abrasive particle during the industrial polishing process of porcelain stoneware tiles
Journal of The European Ceramic Society, 2007Co-Authors: F J P Sousa, Jan C Aurich, Walter Lindolfo Weingaertner, Orestes Estevam AlarconAbstract:In order to achieve glossiness the porcelain stoneware tiles must undergo an industrial polishing process, which can be optimized by either the scratching phenomena or the polishing kinematics. This paper is focused on the latter. Thus, the most important kinematic equations involved in polishing process were described. The Lateral Oscillation used in modern polishing machines, as well as the other available motions were taken into account. The trajectory of abrasives, the scratching speed and the curvature radius could be obtained for each instant. The importance of adopting good kinematics parameters for the accomplishment of the polishing process was highlighted, and the equations furnished hereby serve as useful tools for further attempts in optimizing the polishing process.
