Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles

Andrew Jansen; Kevin Sebastian Luck; Joseph Campbell; Heni Ben Amor; Daniel M. Aukes

doi:10.1007/978-3-319-63537-8_19

Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles

Andrew Jansen, Kevin Sebastian Luck, Joseph Campbell, Heni Ben Amor, Daniel M. Aukes

Engineering, Ira A. Fulton Schools of (IAFSE)

Research output: Contribution to journal › Conference article › peer-review

3 Scopus citations

Abstract

This work explores the physical implications of variation in fin shape and orientation that correspond to ontogenetic changes observed in sea turtles. Through the development of a bio-inspired robotic platform - CTurtle - we show that (1) these ontogenetic changes apparently occupy stable extrema for either load-bearing or high-velocity movement, and (2) mimicry of these variations in a robotic system confer greater load-bearing capacity and energy efficiency, at the expense of velocity (or vice-versa). A possible means of adapting to load conditions is also proposed. We endeavor to provide these results as part of a theoretical framework integrating biological inquiry and inspiration within an iterative design cycle based on laminate robotics.

Original language	English (US)
Pages (from-to)	216-229
Number of pages	14
Journal	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10384 LNCS
DOIs	https://doi.org/10.1007/978-3-319-63537-8_19
State	Published - 2017
Event	6th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2017 - Stanford, United States Duration: Jul 26 2017 → Jul 28 2017

Keywords

Bio-inspired robots
Design
Fabrication
Granular media
Kinematics
Laminates
Locomotion
Mobile robots
Rapid-prototyping
Turtles

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-319-63537-8_19

Cite this

Jansen, A., Luck, K. S., Campbell, J., Amor, H. B., & Aukes, D. M. (2017). Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 10384 LNCS, 216-229. https://doi.org/10.1007/978-3-319-63537-8_19

Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles. / Jansen, Andrew; Luck, Kevin Sebastian; Campbell, Joseph et al.
In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 10384 LNCS, 2017, p. 216-229.

Research output: Contribution to journal › Conference article › peer-review

Jansen, A, Luck, KS, Campbell, J, Amor, HB & Aukes, DM 2017, 'Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10384 LNCS, pp. 216-229. https://doi.org/10.1007/978-3-319-63537-8_19

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abstract = "This work explores the physical implications of variation in fin shape and orientation that correspond to ontogenetic changes observed in sea turtles. Through the development of a bio-inspired robotic platform - CTurtle - we show that (1) these ontogenetic changes apparently occupy stable extrema for either load-bearing or high-velocity movement, and (2) mimicry of these variations in a robotic system confer greater load-bearing capacity and energy efficiency, at the expense of velocity (or vice-versa). A possible means of adapting to load conditions is also proposed. We endeavor to provide these results as part of a theoretical framework integrating biological inquiry and inspiration within an iterative design cycle based on laminate robotics.",

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author = "Andrew Jansen and Luck, {Kevin Sebastian} and Joseph Campbell and Amor, {Heni Ben} and Aukes, {Daniel M.}",

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Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles

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Keywords

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