Full metadata
Title
Basilisk lizard inspired methods for locomotion on granular and aquatic media with robotic applications
Description
The Basilisk lizard is known for its agile locomotion capabilities on granular and aquatic media making it an impressive model organism for studying multi-terrain locomotion mechanics. The work presented here is aimed at understanding locomotion characteristics of Basilisk lizards through a systematic series of robotic and animal experiments. In this work, a Basilisk lizard inspired legged robot with bipedal and quadrupedal locomotion capabilities is presented. A series of robot experiments are conducted on dry and wet (saturated) granular media to determine the effects of gait parameters and substrate saturation, on robot velocity and energetics. Gait parameters studied here are stride frequency and stride length. Results of robot experiments are compared with previously obtained animal data. It is observed that for a fixed robot stride frequency, velocity and stride length increase with increasing saturation, confirming the locomotion characteristics of the Basilisk lizard. It is further observed that with increasing saturation level, robot cost of transport decreases. An identical series of robot experiments are performed with quadrupedal gait to determine effects of gait parameters on robot performance. Generally, energetics of bipedal running is observed to be higher than quadrupedal operation. Experimental results also reveal how gait parameters can be varied to achieve different desired velocities depending on the substrate saturation level. In addition to robot experiments on granular media, a series of animal experiments are conducted to determine and characterize strategies
exhibited by Basilisk lizards when transitioning from granular to aquatic media.
exhibited by Basilisk lizards when transitioning from granular to aquatic media.
Date Created
2018
Contributors
- Jayanetti, Vidu (Author)
- Marvi, Hamid (Thesis advisor)
- Emady, Heather (Committee member)
- Lee, Hyunglae (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
viii, 64 pages : color illustrations
Language
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.I.53567
Statement of Responsibility
by Vidu Jayanetti
Description Source
Viewed on April 15, 2020
Level of coding
full
Note
Partial requirement for: M.S., Arizona State University, 2018
Note type
thesis
Includes bibliographical references (pages 62-64)
Note type
bibliography
Field of study: Mechanical engineering
System Created
- 2019-05-15 12:26:04
System Modified
- 2021-08-26 09:47:01
- 3 years ago
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